Design And Analysis Of Wheel-track Compound Unmanned Combat Platform

In the ground with complex characteristics or the environment of cruel battlefield,more and more robots have been used to approach the incident.In order to improve the environmental adaptability of ground unmanned robots,this thesis designed and developed a wheel-track unmanned combat platform,which is flexible,responsive,and has good ground-passing and environmental adaptability to be equipped with combat function modules.(1)In this paper,the research status of unmanned platform and compound walking mechanism on the ground is firstly researched,and the classic and series models of combat robots from home and abroad are analyzed.Then,the objectives of this research are clear.(2)According to the design objectives and the performance parameter,the basic scheme of wheel running mechanism,crawler walking mechanism and wheel-track compound mechanism of the mobile platform is completed.Which is different from the conventional layout strategy,a self-locking link switching mechanism is designed,that is,an active and passive combination of suspension structure is developed.Finally,the design of the overall program of battle platform is completed,and the three-dimensional model of a complete program is established.(3)Aiming at the problem of combination of wheel and track,the kinematics model of the compound mechanism is established,and the composition of the compound mechanism and the principle of motion between the connecting rods are described in detail.Then,a parametric optimization method,whick integrate multi-index of position,speed and force,is proposed to optimize and improve the performance of the wheel switching mechanism.A clear multidimensional vibration dynamics model about body-wheel-road coupling relationship is established,and the impact value of ground excitation to the complex mechanism is calculated for the next check of strength of the composite body after optimization.(4)The skid-steering kinematics model of wheel mode and the obstacle-climbing kinematics model of track mode are established respectively,which discussed the relationship of cornering angular velocity,turning radius and four-wheel rotational speed in wheel mode,analysed the obstacle-climbing movement mechanism about passing steps,slopes and trenches in wheel mode,and provided the theoretical basis for the experiment.(5)At last,the experiments are made to verify the correctness of the models and the simulation results established in the paper,and the degree of compliance of the platform design.The test results are analyzed to provide theoretical basis and practical reference for further improving the performance of the wheel-track unmanned combat platform.In this paper,the overall program design of the unmanned combat platform and its kinematics model establishment and analysis are completed,and the feasibility of self-designed wheel-track compound structure is verified,Which make up for the lack of research on the suspension of wheel-track mobile platform,laid the foundation for the further development and research of the ground unmanned combat platform.