Dynamics Simulation And Experimental Verification Of Tracked Chassis For Nuclear Robots

The nuclear robot belongs to the special environmental operation robot and plays a vital role in the emergency rescue of nuclear accidents and the decommissioning of nuclear facilities.The requirements for nuclear robots are also higher than those of ordinary robots,not only to meet the requirements of field work,but also to adapt to the nuclear radiation environment.The nuclear robot is equipped with a sensing system,a shielding device,etc.,and the shielding device is generally heavy metal material with a large mass.Therefore,the nuclear robot chassis often has a large load,and it also faces problems such as difficulty in accident recovery.Therefore,it is necessary to optimize the key parameters of the nuclear robot crawler chassis to improve driving performance.In this paper,the nuclear robot is taken as the research object,and the driving performance of the nuclear robot crawler chassis is studied.The main research contents are as follows:In view of the problem of large load on the crawler chassis of the nuclear robot,the theoretical analysis of the driving of the crawler chassis is carried out.According to the driving principle of the crawler chassis,the theoretical calculations of the important parameters such as traction force,drag,driving torque and driving power during the driving of the crawler chassis are carried out.The solid robot model is built by using Solidworks and RecurDyn software to define the contact parameters,track and ground contact parameters of the internal components of the track chassis.Establish a straight-line,30°ramp straight-through ground model.the simulation analysis is carried out under common working conditions such as straight-line straight,differential steering and straight-line running,and the crawler chassis driving speed,driving power and driving torque are extracted,and theoretical calculation values are performed.In contrast,verify the correctness of the crawler chassis model.In addition,considering the influence of the pre-tensioning of the track on the running performance of the crawler chassis,setting different pre-tensioning forces,simulating and analyzing the crawler chassis,and analyzing the influence of different pre-tensioning forces on the dynamic tension and driving power of the crawler chassis.Regularity,when the crawler nuclear robot is going straight on the ground,the best pre-tensioning force is 30% of the whole machine weight;when the 30° ramp is straight,the pre-tensioning force can be appropriately increased to improve the driving performance of the crawler chassis.The pre-tensioning force ranges from 30% to 40% of the overall weight.Based on the above research,the pre-tensioning force of the track chassis is adjusted to 30% of the whole machine weight,and the driving performance of the nuclear robot is tested and verified.The error between the test result and the simulation result is small.After adjusting the pre-tensioning force,the track chassis has good driving performance.In this paper,the dynamics simulation and experimental verification of the nuclear robot crawler chassis are carried out,and some data and results are obtained,which is of great significance for improving the driving performance of the nuclear robot crawler chassis..