Prototype Design And Key Technology Research Of A Tracked Variant Mobile Robot

In this paper,a new type of tracked variant mobile robot was designed.Its main feature was that it not only can be used to climb on various facilities and equipment with ferromagnetic surfaces in underwater or wet environments,but also can be used on rough roads,muddy surfaces,etc.Compared with other robots specially developed for a specific task,this tracked variant mobile robot had the advantage of being suitable for many occasions.In addition,the robot prototype was small in size,light in weight,strong in load capacity,and did not rely on a fixed power supply.It obtained energy through rechargeable lithium batteries,which greatly increased the autonomy of the robot.First,according to the application scenario of the climbing robot and the proposed design requirements,the appropriate adsorption method,walking method and drive transmission method were selected,the overall structure of the tracked mobile robot and the mechanical structure of each module were designed.Secondly,the variant push-pull mechanism was modeled and optimized,and the model was solved and verified with the help of MATLAB and ADAMS,respectively.And established the mechanical model of the variant mechanism,revealing the principle of the transformation of the tangential adhesion force of the variant to the clinging force and the method to realize this transformation.Thirdly,by analyzing the spatial mechanics model of the two key parts,the keel structure and the driving synchronous pulley,the force conditions of the parts in multiple directions were obtained,and a mathematical optimization model to ensure stiffness and strength was established.In ANSYS finite element software,the simulation load was applied to parts,and the lightweight design of the structure was carried out by means of the finite element method.And adopt the structure size optimization method to further carry out the lightweight design of other various parts to maximize the reduction of the total weight of the robot.Then,the fixed structure and transmission parts of the prototype were designed for waterproof sealing,and the waterproof sealing design of the fixed structure and the transmission parts using ordinary motors as driving elements were proposed.The design scheme was simple and easy to implement,which can effectively reduce the design,manufacturing and maintenance costs of the underwater robot system and ensure good sealing performance.Finally,with the performance index of the prototype as a reference,the comprehensive performance experimental research of the robot prototype was carried out for the tasks corresponding to the index,including the basic index assessment test and the control variable method to study the factors that affect the performance.The robot prototype after the final processing and assembly had excellent comprehensive performance,high movement flexibility,and the maximum movement speed can reach 500 mm/s.It can realize zero-radius turning by means of two-wheel differential rotation.In addition,the robot also had good obstacle-crossing performance,the advantage of strong load capacity,it can climb over 100 mm high obstacles,and can achieve vertical wall climbing and inverted climbing.