Design And Simulation Research Of Under-actuated Tracked Mobile Robot System

The tracked mobile robot is widely used in the field of disaster rescue, scientific research, military operations and other areas. In order to improve the obstacle performance of the tracked mobile robot, the traditional tracked mobile robot is usually installed an active arm. The volume and quality of the robot is relatively big, and the control system is relatively complex. Due to the simple structure, under-actuated mechanism under the specific conditions is easy to control and it is affordable. It has a far-reaching significance to carry out in-depth design and research of under-actuated tracked mobile robot.This paper presents a comprehensive under-actuated tracked mobile robot with both tracked mobile robot and under-actuated mechanism features. In this paper, the author conducts comprehensive configuration, structure design, mechanical property analysis and trafficability analysis. Specifically they are:Determining the overall composition of the robot according to the intended functions of the under-actuated tracked mobile robot; conducting a comprehensive configuration and selection of the planet differential gear train of the under-actuated system based on a comprehensive configuration and closed-chain innovative design combined with under-actuated motion mode and determining the under-actuated tracked mobile unit; selecting the main body structure of the under-actuated tracked mobile robot as the rigid main body; determining the freedom and joint configuration of the mechanical arm, and completing the overall configuration design of the under-actuated tracked mobile robot.According to the conditions of the under-actuated implementation, designing the mobile unit of the under-actuated tracked mobile robot. Completing the configuration optimization design of the transmission system; according to the technical parameters of the under-actuated tracked mobile robot, completing the overall structure design of the robot.Establishing forward and inverse kinematics model of the robot in motion mode based on the D-H method, and conducting kinematics simulation verification through ADAMS; establishing a dynamic model of the differential planet gear train of mobile unit and conducting kinematics simulation verification through ADAMS; conducting modal analysis of the mechanical arm and planet differential gear train in the motion mode pose to obtain corresponding frequencies and mode of vibration and to provide theoretical support for the structural optimization design and further research of stability and less noise.On the basis of ground mechanics, studying the functional mechanism of different geology to the tracks. Establishing the track-ground contact model of the under-actuated tracked mobile robot by analyzing the interaction relation between the track system and the ground. Using Recur Dyn and establishing the trafficability simulation model of the under-actuated tracked mobile robot, conducting trafficability simulation of the under-actuated tracked mobile robot on horizontal terrain corresponding to three typical geologies and random terrain corresponding to three typical geologies to verify the stability, reliability and trafficability of the robot on complicated ground.