Research And Implementation Of Drive System For A Tracked Mobile Robot

The overpressure test of gunshot and muzzle blast wave is important in the type tests of conventional weapon. It plays an important role in studying,designing,identifying,protecting the guns and weapons. This paper researched a overpressure test method of gunshot and muzzle blast wave based on the storage testing technology and wireless sensor network technology.According to the characteristics and difficulties of gunshot and muzzle blast wave test, the main work of this paper is as follow:With computer technology, electronic information technology, sensor technology, artificial intelligence technology and other related technologies developing,the performance of robot continues to be improved,and it has gradually been widely used in civil, military, scientific research and other fields. As an important branch in the field of robotics research, tracked mobile robot has many awantages,such as crossing obstacle capability,and has a strong adaptability to the ground,and it can allow large thrust,what’s more,the system is stable and reliable,is always one of the hot spots.Drive system is the core part in the design of the robot, directly related to the smooth running of the robot.Combined with actual project, this paper focuses on a tracked mobile robot’driving system and its key technologies research which applied in the operational environment.The related literature about the mobile robot and its driving technology are extensively retrieved at home and abroad in order to determine the research content of the paper. The main contributions of dissertation are as follows:(1)Design of drive system of the robot mechanical structure, mainly including chassis cabinets, rear wheel system, the front wheel, swing arm system, suspension system and yuntai system structure design and material selection, and some key parts was carried out by the finite element analysis. (2)According to the tracked mobile robot structure, dynamics modeling analysis on the robot have been down, analysis of its movement characteristic s,for a different driver module of motor driving system matching calculation and selection.(3)The drive system control scheme design and specific device selection, the drvie system use AVR128microcontroller as the core control chip, marched to the function driver module, the swing arm function driver module, yuntai function driver module, barrie module, wireless communication module function modules such as the hardware circuit design and software programming; the power management module is in the charge of the power to each function module of the drive system, to ensure operation of system normally and orderly.(4)Through the debugging for each function module of the drive system,the experimental results show that the robot drive control system has good performance, and meets the system design requirements.