Structural Design And Manufacture Of Strong Obstacle-crossing Track Chassis Used In Non-structural Environment

Robots play an irreplaceable role in the rescue of accidents such as radiation leakage,high temperature,and severe toxicity.However,the unstructured environment at the accident site presents a huge challenge to the mobility,obstacle crossing ability,and reliability of the robot chassis.Aiming at the problem that the existing robot chassis still has limitations in its motion performance,this paper carried out a research on a strong obstacle-crossing crawler chassis with high mobility and high reliability,which is suitable for unstructured environments,and finally completed the design and development of the crawler chassis,which is of significance to improve the motion performance of the robot chassis.This subject is supported by the national “The 13 th five-year plan” nuclear energy development project.Firstly,the structure of crawler chassis is designed to solve the problem of insufficient performance of the chassis in unstructured environment.Combined with the scene,the design index is put forward,and the characteristics of existing crawler chassis are deeply investigated and analyzed,then according to the requirements of obstacle surmounting ability and load capacity of crawler chassis,a modular dual-main crawler-four swing arm mobile chassis structure is proposed,which can realize strong obstacle surmounting ability with the help of swing arm.According to the technical requirements,the mechanical structure of the chassis body and the design of the swing arm structure were refined,and the dimensions of the typical obstacle crossing scene were analyzed to determine the relevant parameter constraints of the crawler chassis.The solidworks software was used to construct a three-dimensional model of the chassis.Secondly,modeling and analysis are carried out based on the moving performance of crawler chassis.The centroid coordinate system of the crawler chassis is established through the coordinate transformation method,the change of the centroid domain of the crawler chassis is studied,and the influence of the swing arm attitude on the centroid position is preliminarily demonstrated.From the perspective of track chassis motion performance,checking the rationality of the driving torque when the crawler swing arm is self-supporting.The relationship between steering radius and pulley angular velocity is analyzed,and the relationship between steering resistance torque and crawler force is studied.Combined with different case scenarios,the obstacle surmounting ability of crawler chassis under normal constraints is analyzed,and the operation of crawler chassis is planned reasonably according to the analysis.Next,the dynamic simulation analysis of the crawler chassis is carried out.In Recur Dyn software,the virtual prototype of crawler chassis is built and the simulation environment is set up to simulate the actions of crawler chassis such as standing up in place,turning on level road,climbing slope and climbing stairs.Comparing the simulation data with the theoretical calculation values,the results show that the theoretical calculation of the crawler chassis meets the design requirements and has good sports performance,which proves the correctness of the theoretical analysis.Finally,the development of the physical prototype of the crawler chassis was completed.After the prototype is produced,the test scheme is formulated according to the design index to test the sports performance of the prototype.The test results show that the crawler chassis has strong obstacle surmounting ability,and the parameters meet the index requirements.The successful development of the crawler chassis has provided a reference for the national emergency technical reserve,and is crucial for further improving the obstacle surmounting ability of the sports chassis.