Configuration And Mobility Of The Mobile Robot Crawler Device

Along with the science and technology unceasing progress, the open country reconnoiters the robot the application prospect to become more and more broad.Develops the open country reconnaissance robot to become the domestic and foreign scholar's research hot spot.Regarding moves the robot, has wheeled, marching, the multi-feet -like, the wheel and tracked compound expression and so on several kinds, it may be said has the special skill respectively.The caterpillar band is the constitution small tracked motion robot basic part, which was the small tracked robot important constituent. The caterpillar band maneuvering performance quality has directly decided the robot overall performance fit and unfit quality; As the small trackedmotion robot core part, the caterpillar band maneuvering performance is one of influence small trackedmotion robot performance essential parts, it is to a great extent affecting the small trackedmotion robot development.This article in analyzed and summarized in the domestic and foreign each kind of trackedmotion robot configuration foundation, take analyzed various configurations the maneuvering performance as the goal, has conducted the research and the discussion.First through to the caterpillar band kinematics analysis, obtains the small tracked motion robot the movement condition; Analyzes the induction in this foundation to obtain the small tracked motion robot the maneuvering performance, and changed the nature, the obstacle crossing to it, smoothness has carried on the analysis, has obtained each maneuvering performance influence factor and the performance evaluation target.In has analyzed in the maneuvering performance foundation, plan small caterpillar band robot basic structure; Utilizes the dummy specimen technology and the ADAMS macro instruction re-development function establishment small tracked motion robot basic structure model.Then carries on each maneuvering performance using ADAMS to the dummy specimen the simulation analysis, the confirmation maneuvering performance influence factor and the appraisal target.This article studies the small tracked motion robot maneuvering performance changes the nature, the obstacle crossing including it and the smooth running, is the more systematic analysis robot maneuvering performance; But uses ADAMS the re-development technology foundation caterpillar band organization model is a big innovation.The trust along with the research work thorough, the tracked motion robot various aspects performance will certainly to enhance unceasingly unceasingly, its application prospect will certainly to be extremely broad.