Dynamics Modeling And Analysis Of Rubber Track System

With the development of the exploration to nature,people urgently need a allterrain mobile platform which can move fast in complex environments.The traditional common all-terrain mobile platform can’t deal with a variety of environment conditions at one time.Once the environment changes,it is hard for mobile platform with a single travel mechanism to adapt to.While at the same time,installing two traveling mechanism to the mobile platform causes the following problem of complex structure and the difficult in power distribution.Rubber track system,as a kind of brand-new travel mechanism,can organic integration the advantage of wheeled and tracked motion mechanism.It can improve the movement and adaption ability of the environment,while not affect the structure of the body at the same time.So the rubber track system provides a new train of thought of the development of all-terrain mobile platform.In view of the problem of current all-terrain mobile robot platform,which is difficult to cope with the rapid transformation of the environment and move slow in complex environment.This article carry out a dynamic modeling of the structure of the rubber track system,and through the dynamic model,the structural parameters of the rubber track system are optimized.The optimization ability and the ride comfort of the rubber track system is proved.The research is as follows:Firstly,the structure and the force of the rubber track system are analyzed,and the function and internal force distribution of each component in the rubber track system are analyzed emphatically.The relationship between the acceleration of the component and the force of the track is obtained by using the Newton Euler method to analyze the force of the main members and the track at different positions,which provides the basis for the dynamic modeling.Secondly,on the basis of the above,with the stochastic roughness function,use the Newton Euler method and the iterative method are used to establish the dynamic model of the rubber track system,and the model is discretized in order to calculate the dynamic model.In this paper,the ground excitation function with random roughness is calculated by the triangular series superposition method.The body part of the triangular track wheel is modeled by Newton Euler method,and the iterative method is used to model the track part.The two part are combined together by the tension forces,and thus establish the dynamics model of the rubber track system.The result of mat lab output verifies the correctness of the dynamic model,which prepares for the next simulation.Finally,the simulation model of the rubber track system is established in RecurDyn software.The simulation results of the simulation model in a variety of complex environments are simulated and the environmental adaptability of the triangular track wheel is verified.At the same time,based on the dynamic model,The simulation experiment platform is established and the design parameters are optimized according to the simulation results in complex environment.The correctness and validity of the kinetic model are proved according to the optimization effect,and the ride comfort of the triangular track wheel in complex environment is proved by the optimization result.Which proves the validity of the triangular track wheel on the all-terrain robot mobile platform.