Research On Dynamic Characteristics Of Tracked Robot

In modern times,due to science and technology have been developing rapidly,a variety of new robots from single to complex,from the integration of multiple modules and from single task to multi task have been emerging,its application has penetrated into the national manufacturing industries and played a vital role,such as military,environmental monitoring,ship manufacturing,mining,exploration,medical,agriculture,forestry,service industry and other conditions where are poor environment.At the same time,the rapid development of our national economy result in the deterioration of the environment and other incidental factors,so the crawler robot working environment will be severe in the foreseeable time,which requires the tracked robot has good dynamic performance.In this direction,Taking the tracked mobile robot as the research object and fully understanding the technical status of the robot at home and abroad.This paper presents a design scheme of three-section six-wheel mobile robot based on screw combined with a variety of working environment of mobile robot,analyses its overall structure,researches its kinematics the construction of virtual prototype model and studies the dynamic performance by using multi-body dynamics software RecurDyn.Through above analysis,making prototype and the relevant test.the specific work is as follows:(1)Presenting the concrete structure scheme of tracked robot,then the paper will illustrate mechanical structure and working principle,give the specific design parameters,and analyze the relationship between the important parts,such as the swing arm elevation and distance relationship between the slider.(2)Based on the structural design of the robot,this paper will describe the principle of robot obstacle surmounting and analyze its kinematics performance under different motion states with building kinematic model of robot,such as the ant overturning performance of the robot,robot across the boss,stairs,ditches,slope and turning performance.(3)From the theoretical analysis above,the paper will establish the virtual prototype model based on three-dimensional model software and dynamic analysis software,and carry out the simulation test of dynamic performance in RecurDyn to verify the design parameters,and provide important reference for the selection of the key components of the prototype,which set a solid foundation for making prototype.(4)Designing the simple control and testing based on the experimental prototype.The results show that the motion performance of the robot meet the original design intention.