Research On The Track-typed Undre-actuated Mobile Robot’s Institutions

Mobile robot, because of its good ability to adapt to the environment, has been widely used in fields of Aerospace, Military, Energy, Marine, Disaster Rescue and others. Using the under-actuated mechanism with flexibility in the design of the robot’s travel mechanism can increase the ability. This paper is supported by the National High Technology Research and Development Program of China(2012AA041508) “Information collecting robot with ground self-adaptation ability”. The robot with track-typed under-actuated mechanism has been designed in the paper.In this paper, many efforts are made and some results are achieved as follows:1. The research on the status and classification of under-actuated mechanism has been carried out. The method of connecting-rod-type under-actuated mechanism has been researched.2. Combined the planetary-wheel under-actuate principle and deformation crawler mechanism, a under-actuated deformation crawler travel mechanism has been proposed. The robot’s transmission system and mechanism system have been designed in detail.3. The parameters of each link in the travel mechanism have been summarized to set up a characters list; According to the list, the internal relations between the links has been analyzed. A model of the rubber track in the travel mechanism has been established. With the target to keep the length substantially constant, the link parameters have been optimized and simulated using MATLAB.4. The robot’s over-obstacle capacity has been analyzed to put forward the condition that the robot could stably walk on the road condition such as slope and convex ground. Using the software RecurDyn, the robot’s simulated model has been established and the performance of the robot on ground surface of slope, and groove, has been simulated.