Comprehensive Evaluation And Motion Analysis Of Crawler Robot With Pendulum Arm

With the development of society,there were more and more scenarios of mobile robot application,sometimes it even needed to replace people to perform tasks in some bad,dangerous and harmful environment.In order to adapt to complex situations,the robot-system needed to have stronger performance and stability of surmounting obstacles.This paper synthesizes the characteristics of various walking systems,and finally chooses the pendulum arm crawler robot as the research object.1)The designed six-track four-pendulum swinging arm crawler robot consists of three sections of structure,the middle was the main body structure,the front and rear end was the pendulum arm structure,the front and rear swing arm structure was the same,the middle main body structure was symmetrical on the left and right sides,and the middle bottom was welded with channel steel.The walking wheel and the swinging arm structure both contain many complicated small parts,in which the swing arm wheel was concentric with the inner and outer axis of the walking wheel.2)That evaluating and analyzing the comprehensive performance of the designed crawler robot,explosive ejector robot and carrying manipulator with the method of multivariate statistics.Introduced the basic principles of AHP,fuzzy comprehensive evaluation and entropy weight method in multivariate statistics were introduced.The algorithm,using AHP to evaluate the comprehensive performance of tracked robot,obtains the weight value of each index factor,which had important reference significance for the design of swinging arm crawler robot.Then,In order to avoid the influence of subjectivity,entropy method and AHP method were used to calculate the weight of the robot,and the appropriate design scheme of the robot arm was better selected in order to avoid the influence of subjectivity in order to achieve a better completion of a series of tasks.Finally,the fuzzy comprehensive evaluation method was used to evaluate the robot with robot arm,and it was concluded that the designed robot is at a medium level.3)In this chapter,the movement and stability of crawler robot with pendulum arm were studied and analyzed.Firstly,the steering performance of swinging arm crawler robot was analyzed,and the caterpillar force under sliding condition of crawler robot was derived.The steering radius and plane motion equation were analyzed,and the conditions of safe climbing and smoothly crossing trench were obtained by analyzing the climbing and crossing movement of swinging arm crawler robot.Than,the stable cone method was applied to the comprehensive evaluation of the stability of the pendulum arm crawler robot.