Research On Tracked Mobile Mechanism With Adaptive Obstacle Crossing

The response and the obstacle climbing capability of ground moving mechanism are the research hot spots when the mechanism moves through complex terrains.Among them,the crawler-type moving mechanism has greater ground specific pressure and traction force,and it has a strong adaptability to the external environment.Therefore,based on the track-moving mechanism,the adaptive obstacle moving mechanism are designed to improve the robot's obstacle clearance height and reduce the obstacle time.This paper investigates the structure and performance of existing mobile obstacle robots at home and abroad,and decided to adopt under actuated devices to achieve passive adaptive obstacle.The multi-mode adaptive differential track robot proposed in this paper adopts a combination of differential gear train and track,and analyzes the movement modes of crawler,rocker leg and wheel in the soft,rugged and flat terrain.Described the robot through the steps of four cases,through the establishment of dynamic model to calculate the four cases of the required driving torque and obstacle height,the relationship between the size of the robot track module.Using ADAMS obstacle dynamics simulation,the torque curve of the robot during obstacle crossing process is obtained.Produce a prototype,climb the stairs experiment,verify the feasibility of adaptive obstacle clearance.The theoretical analysis and experimental results show that the robot's ability to adaptively change the mode of movement in response to the topographic changes improves the response speed,and multiple obstacle modes effectively enhance the ability of passing through.Based on the analysis of advantages and disadvantages of multi-mode adaptive differential tracked robot,optimize the structure of body module and track module respectively.Then combined a series of adaptive obstacle moving mechanism.This kind of control system is simple and the mechanical structure adaptability is strong.First,analyzed the track module configuration by Yan's mechanism creative design method,and then design a deformation track module.This module has the advantages of traditional and differential tracks.This deformation track module has 3 degrees of freedom and 1 drive.This paper analyzed the obstacle of deformed caterpillar robot,used ADAMS obstacle dynamics simulation and produced a prototype.Next,through the design of the vehicle body,a series of adaptive articulated body structures are obtained.The design and analysis of the prototype and the prototype of a triangular prism articulated body are carried out,and the three prism articulated car body is simulated and the prototype is analyzed in this paper.The innovations of this paper are as follows:multi-mode movement and obstacle avoidance are realized by under-actuated device.A number of adaptive cross barrier mobile mechanisms are proposed.The response speed is accelerated basing on the improvement of passing ability,and the adaptability of the mobile mechanism to the terrain is enhanced.It provides a new research idea for the ground moving obstacle crossing mechanism.