The Structural Design And Simulation Analysis Of A Deformable Tracked Mobile Platform

As more and more robots are used in various occasions,it is imperative to equip robots that cannot move autonomously with mobile platforms.The obstacle-crossing capabilities of the traditional tracked and wheeled mobile platforms are limited,so the development of mobile platforms that have strong obstacle-crossing capabilities has become an important research direction.This paper is based on the research project of the laboratory and the purpose of the paper is to design a deformable tracked mobile platform based on the project indexes and the usage of the mobile platform.In this paper,the structural design,obstacle-crossing analysis and the simulation analysis of the platform have been completed.Firstly,the kinematics and dynamics of straight travel and steering travel of the tracked mobile platform were analyzed,and the structural design of the mobile platform was completed.The platform consists of eight joints which can be divided into two types: one is the travelling joints that control the travel of platform,and the other is the pitch joints that change the attitude of the platform.According to the operating requirements of the platform,two kinds of travelling joints and two kinds of pitch joints were designed,and the core components of the joints were checked and optimized.At the same time,the finite element analysis of the whole platform was carried out,and the strength and rigidity of the platform structure were verified which can meet the operating requirements.Then,the obstacle-crossing processes of the platform were analyzed: the action and method of the platform crossing the ditch were analyzed,and the dynamic model of the processes was established.Meanwhile,the method and action of the platform crossing the step were analyzed,and the traditional method was improved.According to the improved method,the dynamic model of the key attitude of the processes was established.Finally,a model of the platform was established in Recur Dyn software,and the situations of straight travel,three kinds of steering travel,climbing with two tracks,climbing with four tracks,ditch crossing,step crossing of the platform were simulated and analyzed.The aforementioned design and analysis were verified.