Mechanism Design And Simulation Analysis For Deformation Tracked Robot

Barrier- crossing robot is an important branch of t he ground mob ile robots. It has to face the comp lex terrain environme nt, so strong obstacle- sur mount ing capabilit ies and ground adaptabilit y is required. The key proble m in obstacle robot research is select io n and design of its moving mecha nis m.A new type of defor mable craw ler robots was des igned on the bas is of the current research status of tracked robot in t his paper,. The robot could achieve active contro l of t he shape and tens ion of t he tracks by us ing symmetr ica l placeme nt of double crank- slider mecha nis m and pass ive adapt ive installat io n, which makes the crawler fit to the obstacles better, consequent ly, the ability o f obstacle sur mount ing is improved. And several aspects of the robot were stud ied and analyzed, inc luding of moving mecha nis m design, dr ive motor se lectio n, obstacle- surmo unt ing princ ip le, process and ability, stability and steering etc.. At the sa me time, Using t he Monte C ar lo integra l princ iple get the Four ier series approximat ion expans ion o f trans fer funct ion and us ing t he princip le of least square get least square approximat ion expans io n of trans fer funct ion.In order to check the effect iveness of the robot, the paper establis hed a virt ual model a nd carried out s imulat io n w it h AD AMS. The actua l process of obstacle- navigat ion and steering task is imitated, then the sur mount ing obstacle and steering abilit y is ver ified. The robot has got a lot of advantages suc h as symmetr ical and simp le structure, flexib le deformat io n, easy to contro l and so on, which provides a new design idea for deformab le tracked robot.