Design And Motion Analysis Of A Tracked Type Unmanned Ground Platform Based On Rocker Suspension System

With the rapid development of science and technology,the unmanned ground platform began to appear more and more in the battlefield,ruins,mining and other complex ground environment,instead of human beings to carry out the investigation,rescue,detection and other high-risk activities,greatly reduce the risk of human need to face when they are in the above activities.In recent years,China's natural disasters,and accidents occur frequently,the military field is also vigorously promote the unmanned equipment,which has led to the increasing demand for high mobility ground unmanned platforms which can adapt to the complex ground environment.The research objective of this paper is to design a new track type unmanned ground platform based on rocker suspension.The mobile platform uses a unique rocker type suspension mechanism.When the platform is through rough terrain,the two sides of the track can rotate to a certain degree of the middle shaft to make the track fit to the terrain and improve the smoothness of the platform motion.This paper focuses on the design of new unmanned ground mobile platforms,to carry out studies on several aspects of its movement principle,climbing obstacle performance,prototype development,etc.,mainly made the following findings:1.Proposed a movement mechanism scheme and designed rocker type suspension mechanism and the four bar spring shock absorber.2.Analyzed the movement process of mobile platforms in plains,slopes,stairs,ditches and other typical ground environment,calculated its traffic ability.3.Use dynamics analysis software,established virtual prototype of the unmanned platform and virtual experiment environment of typical terrain.Carry out simulation experiments.Verified the mobility of mobile platforms,and optimized the design parameters according to the simulation results.4.Complete the development of the prototype,and carry out the movement test on different terrain.The test results show that the crawler type unmanned platform based on rocker suspension system has fast moving speed,high load capacity,flexible control,smooth motion and other characteristics.some indicators(maximum operating speed of up to 35km/h,the load capacity(load/weight ratio of 1.26),life time 4h)to the domestic small and medium sized crawler unmanned platforms advanced level.In the end,the paper gives out the suggestions for the improvement of the existing design,and gives a prospect of the development of the unmanned ground platform.