Structure Design And Control System Research Of Self-Adaptive Passively Deformable Tracked Robot

In recent years,the use of mobile robots has become more and more widespread.Many countries have developed a variety of mobile robots for rescue in order to ensure the safety and efficiency of disaster relief.Among them,tracked robot is one of the commonly used for searching and rescuing.The special structure forms a large effective surface with the ground,so that the robot has good traction and adhesion,and can work in harsh environments or in the wild.This paper designs a track-type mobile robot with variable operating attitude based on a hinged six-bar mechanism.The robot is mainly composed of a body unit,an self-adaptive passively track unit,and a pendulum,in which the self-adaptive passive deformation track unit is the core part.And the movement attitude can be adjusted in time according to the change of the ground shape in the unstructured environment to enhance the robot's obstacle-surpassing capability,so that the robot can perform search and rescue work more smoothly.Firstly,the overall mechanical structure of the robot is designed,and the self-adaptive passive deformation mechanism and the deformation principle are described.The relationship between the change of the angle of the rod parts and the change of the main adjusting rod,the relationship between the driving wheel,the tensioning wheel,the position of the moving wheel and the analysis of the machine are analyzed.Then the motion characteristics of the robot are analyzed.Secondly,it analyzes the ground mechanics of the variable form tracked robot and the constrained relationship between the deformation mechanism and the ground.And it studies the distribution of the drag resistance,the physical model and the mathematical model during the course of the turn,and each static analysis of the bar in static,uniform linear motion and in case of obstacle.Thirdly,when the tracked robot is in motion,perform kinematics analysis to obtain the kinematics model when it travels on the plane,including when the robot is moving.The two models of slip effect and no-slip effect,at the same time,analyze the robot's climbing,crossing the step,crossing the trench,and study its obstacle-obstacle ability.Finally,design overall control system of the tracked mobile robot,including hardware section and software section.The application of the external bus and various sensors,such asultrasonic sensors,infrared sensors,laser sensors,electronic compasses,etc.are described.And the software part is programmed,debugged,and tested.