Design And Research Of Tracked Robot System

Due to the advantages of large supporting area, good maneuverability, good traffic ability, and so on, tracked robot has become one of the research hotspots in the mobile robot field. Tracked robot can work under the dangerous, harsh, complex environments replacing human beings, and greatly reduce these environments’damage to human beings. Therefore, tracked robot occupies a very important position in the applications of rescue, military industry and so on, so it is necessary to design and research it systematically.The main research works are as follows:First of all, analyze the research situation of China and foreign countries about tracked robot, determine the basic design parameters and the overall design process of tracked robot, use SolidWorks to finish the design of3D virtual prototype, and use SolidWorks/Simulation to finish the strength check to the important parts of tracked robot, complete the manufacturing and assembling of robot, then obtain the experimental prototype.Secondly, set up the kinematics and dynamics model of tracked robot, measure and determine the important parameter slip ratio in the kinematics and dynamics of tracked robot, obtain the fitting curve of slip ratio and lay a foundation for the further study.Thirdly, finish the design of control system of tracked robot, use MC9S12DG128single-chip as the core controller. Form the hardware system including controller module, sensor module, stepper motor module, power supply module. Use Matlab/Simulink to finish the motion control system’s simulation of stepper motor based on PID and fuzzy-PID control. Design the overall frame of software system and motor’s control strategy, and use CodeWarrior IDE to realize the program design of software system.Finally, make basic and special performance test of the experimental prototype of tracked robot and analyze the experimental performance which the experimental prototype can achieve. Based on this, analyze the improved ELA (Emergency Level Around) obstacle avoidance algorithm in detail, use Visual Studio2010to design the simulation platform of tracked robot’s obstacle avoidance algorithm and finish the simulation analysis of it, use experimental prototype to finish the experimental study of obstacle avoidance behavior and verify the correctness, practicability of the system.