Study On Obstacle-Crossing Performance Of Tracked Urban EOD Robot Motion Chassis

Tracked EOD robot is one of the special operation robots.The road conditions are usually poor when robots are working in the field,which puts forward higher requirements for obstacle-surmounting performance of robot.Based on the research status of crawler EOD robot at home and abroad,the overall structure of the moving chassis of crawler EOD robot is designed and the theoretical analysis of the robot is carried out by using the knowledge of dynamics and kinematics.Using RecurDyn Software to analysis the obstacle performance of Virtual Prototype.The main research works in this thesis are as follows.First of all,The overall structure of the robot has been put forward,the framework of the control system is expounded and the transmission scheme of robot walking mechanism is determined.The key components of reducer,track and power supply are analyzed and selected.Various component model for the robotic travel mechanism are created in the SolidWorks.Secondly,the driving principle of the robot walking mechanism is analyzed,and the mechanical relationship between the crawler unit of the walking mechanism and the ground is elaborated.The steering kinematics model of the robot walking mechanism is established to explore the relationship between the horizontal and vertical deviation of the center of mass and the grounding pressure of the robot walking mechanism.And the relationship between steering resistance,steering resistance torque,steering drive force,driving torque and centroid offset of the robot's traveling mechanism is analyzed.Thirdly,the centroid kinematics model of the robotic walking mechanism in the process of crossing the obstacle is created.Taking a single step as an example to study the passability of robot walking mechanism,and explore the stability of robot walking mechanism when driving on forward slope and lateral slope.Finally,based on the RecurDyn dynamics simulation software,the dynamics and kinematics of the robot are used to simulate the various moving processes of the robot walking mechanism.Taking typical terrain as a reference,simulation models for ground,gullies,steps,bosses,and slopes are created in RecurDyn.It is verified that whether the robot walking mechanism has good obstacle passability and motion stability by analyzing the simulation process and simulation results of the robot walking mechanism in each terrain and analyzing the centroid trajectory and theoutput torque curve of the drive sprocket and comparing with the previous theoretical analysis and derivation.