Joint Tracked Robot Design And Motion Study

The mobile robot is an important part of robot. The tracked robot hasadvantages on lower pressure to the ground, less skid, better tractionperformance and adjusting to the special landform. And joint tracked robotgets some advantages of leg type mobile robot through the help of its armstructure. So it is more favored by engineers and technicians and flourishesrapidly.The joint tracked robot system designed in this paper is aimed at thedetection of the special environment. To the complex environment, weneed the robot own strong ability of striding ditches and obstacle crossingand good fuction of wireless control and iamges acquisition.According to the design requirements, we used six-tracked andfour-armed structure. It was small in size and compact in structure. Therobot owned structure of the rotational symmetry. The bilevel motorscontrolled the movement of arms and wheels respectively. The paperdescibed the design process of driving motor, walking wheel, walking belt,shafts and arm and did FEA and strength check to shafts and arm. Then weintroduced the assembly process of the entire robot and the corrosionprevention and stealing measures.The control system of joint tracked robot used a modularmaster-slave structure, and we chose dsPIC33fJ202MC as the key chip tofinish control command transmission, motor information collection, andmotor PWM wave output. And we used LMD18200to drive four motors.The entire control system achieved wireless control and iamges displaythrough a host computer by two wireless modules.Finally, we did theoretical analysis of climbing, obstacle-crossing and striding ditches to the joint tracked robot. The paper focused on thekinematics analysis of the obstacle crossing motion of robot, proposed thespecific route planning and calculated the theoretical value of themaximum height. Then we proved our analysis through experiments. Itshorizontal movement speed, climbing angle, ditch span andobstacle-climbing height met the need of designers.The innovation point is: small portable robot mechanism, hollow-outsynchronous wheel structure, modular circuit design and graphical userinterface.