Dynamic Characteristics Analysis And Kinematics Simulation Of Tracked Vehicle Chassis With Obstacle-surmounting

Power supply plays an important role in national economic development, and it is the basic guarantee of residents’ life and social production. In recent years, the scale of the substation is constantly expanding with the development of the power industry, the surfaces of substation equipment which long-term exposure to outdoor are easily accumulated filth of natural and industrial contamination, and the filth is easily lead to serious flashover phenomenon. In the case of continuous power for manual washing, there are security risks; however, due to the limitation of the driving conditions of the substation to the power repair work causes a lot of trouble. Therefore, Lightweight, Intelligent and Automation has become a popular direction of the development of the power industry. The research of water cleaning robot with electric is aimed at conducting the water flushing operations of substation insulators and other equipment under condition of continuous power, and then reducing the intensity of manual work, improving the washing efficiency and security.With the development of vehicle engineering and robotics, the car that can cross obstacles with crawler has been widely used in civilian, military and scientific research; especially the mobile chassis with crawler is often used in the research field of robot. The rapid development of virtual prototyping technology enables designers to build physical models and complex external environment through the computer; the development of simulation technology allows designers to compare different design options and optimization, and this can effectively shorten the development cycle.The scheme of tracked vehicle chassis with obstacle-surmounting is adopted in this paper after the structure design of the chassis of the robot according to the water cleaning robot with electric performance requirements for mobile chassis. The tracked vehicle chassis has a mobile and flexible, larger land area, small pressure and many other advantages that can make the robot freedom and flexibility of movement in the substation. Parts of the tracked vehicle chassis with obstacle-surmounting are established due to the equivalent alternative theory of stiffness with the three-dimensional modeling techniques, and the model of the chassis is assembled by parts under different working conditions; the smaller chamfering, bosses and other components of chassis model are simplified against the analysis type of dynamic characteristics and computational requirements; models of ramps and obstacles of tracked vehicle chassis with obstacle-surmounting are also built by the three-dimensional modeling technology to provide the prototype model for kinematics simulation after assembled.The characteristics analysis of computing grid elements using in this paper is based on the theory of the finite element and the method of improving the accuracy of computing is summarized. The dynamic characteristics analyses of tracked vehicle chassis are conducted under different working conditions. The clouds of deformation and stress contours under different conditions are obtained after the statics analysis of the state of the idle speed and working to verify the reasonableness of the chassis structure; modal analysis is done after preloading to calculate the low-level natural frequencies and mode shapes, and then make improvement recommendations for the chassis’s structure based on the dynamic characteristics.The theoretical analysis of linear kinematics, climbing kinematics, and obstacle kinematics and motion stability of the tracked vehicle are analyzed in this paper. The kinematics simulations of the processing of climbing and obstacle of the tracked vehicle chassis with obstacle-surmounting are based on multi-body dynamics with the virtual prototyping technology. The displacement curves, speed curves and acceleration curves of the vehicle are drawn under different road conditions through the kinematics simulation of the chassis to provide the data support for the kinematic control and suggest improvements to optimize direction for motion stability combining the theoretical analysis and simulation results.