Mechanical Design And Dynamics Analysis Of Ground Armed Reconnaissance Robot

In modern warfare, weapon system tends to be unmanned, intelligent andhigh-precision.The battlefield environment is also more complex. Combatants can not meetthe needs of combat missions completely due to their physical and mental limitations.Groundarmed reconnaissance robot, which is used to undertake military missions instead ofsoldiers,is an unmanned ground vehicle, also has the functions of armed combat, battlefieldreconnaissance and so on. The use of ground armed reconnaissance robot can effectivelyimprove the combat effectiveness of the armed forces, and greatly reduce our casualties. Thispaper designed a new composite armed reconnaissance robot with six-track andfour-wheels,then created the entity prototype of the robot’s mobile platform. This design orinvention will enrich the study of ground unmanned weaponry in our country and providetheoretical and practical reference for similar design on ground mobile robots.Focusing on the designed new armed reconnaissance robot,this paper carried out a seriesof work, including:1) Mechanical design and motor match. This part proposed system overall program andconducted modular design, highlighted the innovative design of nested inner and outer axissystem and other key parts; explored the matching calculation of robot’s drive motor in eachparts.2) Dynamics study of the chassis system.Refer to straight traveling,climbing, obstaclecrossing and self-propped these four typical poses,this part carried out the systematicdynamics modeling and numerical solution and analysis for armed reconnaissance robot.3)Servo control of weapons station system. The robotic weapon station should be able toquickly capture and precisely attack the targets.At the request of above,this part designed theservo system and the PID controller of the weapons station, also did the parameter tuning andsimulation.4)Electromechanical co-simulation in weapon station system. This part combinedthe armed robot’s multi-rigid-body dynamic model and the servo system control model, madean mechanical-electronic co-simulation system and analysis for the weapon station.5)Finiteelement analysis and design. In this part, the static strength of robot’s key components isanalyzed. Besides, this parts carried out the optimization design for related structures on thebasis of the finite element analysis.Finally,this paper gived the further optimization suggestions aiming at existing designand the problems appeared in entities prototype experiment.In addition,the developmentforeground of ground armed reconnaissance robot in the future was prospected.