The Ground The Armed Robot Mechanical System Design And Experimental Studies

In the current situation of modern wars, especially where the terrorist activities are rampant, it has become the emphasis of many nations to research on mobile robot, which is perfect for city anti-terrorism wars. The lightweight ground military robot is the feature of small size, light weight, good concealment and survival ability, high mobility, good environmental adaptability, and can be sneaked into the enemy's military importance, armed combat or reconnaissance. The realization of the lightweight and small design of special type small ground military robot can improve the combating performance of mobile robot system greatly.This essay conducts systematic researches into smart designing of the ground military robot. The researches include those on:ground military robot mechanical system design, chassis system design, key parts reliability design, dynamic model research, prototype experiment and optimization design.For the combat missions, environment, design requirements and technical difficulties of small-ground military robot, this essay respectively designs the chassis system module and the upper system. According to a flange interface, the upper system can be equipped with the specific needs of matching manipulator, replacement of weapons equipment, reconnaissance equipment and sight device.The overall design of the robot always has a contradiction: large-power requirements dynamic part to provide high output torque, high-speed requirements dynamic part to provide high output speed. To solve this technical problem, a simple and compact two steps speed change mechanism is designed which is suitable for small mobile robots. The dynamic performance is improved significantly, taking into account both level road with high speed and climbing with high output torque to meet the system requirements.In order to verify the correctness and rationality of the design, the process in which the reliability for key component is analyzed by applying the perturbation stochastic finite element. Parameterized profile of gear teeth is established by means of ANSYS APDL language, and the load position generating the maximum root stress is determined. By comparing the traditional reliability method, this paper concludes that the perturbation stochastic finite element method is convenient and the direct Monte Carlo simulation method. it is indicated that the amount of calculation in this method will be reduced remarkably.The whole robot system uncertainty is mainly caused by the mutual coupling of the mobile platform equipped robotic arm and the random interference caused by the unstructured environment. In this paper, the mobile modular manipulator was considered as a overall structure and a system model of the robot with nonholonomic constraints was built. This paper formulates an nonholonomic constraint system model of tracked mobile robot by applying an integrated dynamic model and considering the mobile modular manipulators as a unit. Basing on the extreme theory and consideration of track-terrain interactions, conduct the direct kinematics analysis and the turning dynamic analysis of the mobile robot respectively, and obtain slippage ratio curves; The Lagrange dynamic method of the robot and Routh equations of nonholonomic dynamics are used to establish a precise dynamic model, then to solve the model. Subsequently, by comparing the nonholonomic dynamic model and the traditional solution model of driving force curves are used to show the feasibility of the formulated mathematical model.A prototype model of small ground military robot is designed from aspects of chassis system, upper system and control system. The outcomes of road driving experiments indicate that the robot meet the performing requirements.