Movement Mechanism On Antarctic Expedition Robot Of Windsurfing&Sled

In recent years, with the development of polar research, demand for roboticmanipulation research equipment is becoming more and more urgent. At present, thelocal instead of scientific researcher to assist and scientific activities of polar robotsystem has achieved initial results, but on the Antarctic continent for long-termcontinuous detection of robotics research faces the problem of energy self-sufficient.Considering the Antarctic abundant solar and wind energy resources, meanwhile theAntarctic continent snowfall is low, relatively flat on the ground, has only a smallamount of obstacles, plans to build polar wandering robot based on windsurfing andsled. The robotic system to improve the breadth and depth of the robotic manipulationpolar of our country has important practical significance.At the same time, its resultswill also be other mobile robot system theory provide theoretical methods andtechnical support, has certain theoretical significance.First, this paper introduces the analysis of common wind power plant and thecharacteristics of snow driving device, select airfoil windsurfing and sleds as powerdevice and driving device, using the windsurfing and sled as the main component ofAntarctic expedition robot of windsurfing&sled model design.Windsurfing of gas dynamics are analyzed theoretically, windsurfing theparameters effect the performance of the windsurfing, determine the related parametersof the robot using windsurfing, and provided-the use of computational fluid dynamicssoftware ANSYS CFX simulation to calculate the aerodynamic parameters of the sails.Respectively set up windsurfing coordinate, coordinate system and steeringrudder hull, respectively set up windsurfing, sleigh and rudder mechanical model, thecomponent such as the analysis of wind power source, the resistance of the sled, etc.,based on the analysis of mechanical performance of the machine, set up the mechanical model of robot, it is concluded that the mechanical model of mathematical expressions.Then, the use of MATLAB software according to the established mechanicalmodel of robot are analyzed in the minimum driving conditions, speed, can rangeanalysis and steering capability study, the analysis of the movement mechanism ofSecondly, the use of MATLAB software according to the established mechanicalmodel of robot are analyzed in the minimum driving conditions, speed, can rangeanalysis and steering capability study, the analysis of the movement mechanism ofAntarctic expedition robot of windsurfing&sled.Again, in combination with the robot’s mechanical model considering theoverturning moment such as adverse factors on the stability of the motion of the robot.Finally, on the basis of the related theoretical analysis and simulation research, thedesign of the Antarctic expedition robot of windsurfing&sled principle prototype, andbased on the principle prototype experiment platform, has carried on the experimentalstudy on the robot, verify the result of theory analysis and simulation.