Study On Dynamic Features Of Rubber Crawler Robots

Due to the large contact surface,small pressure,excellent adhesion performance and great barrier ability and so on,the rubber crawler robots have become the first choice for military,industrial and civil use.The small remote-controlled crawler mobile robots have the advantages of light weight and portable.It is usually used in complex environment such as mine tunnel,industrial transportation,military cross country transportation and operation.People are gradually increasing the research of the obstacle performance of rubber crawler robot,nevertheless,due to the unpredictable and dynamic nature of the working environment of the robots,we find it difficult to realize the complete autonomous obstacle in the current relevant technology level.Therefore,the study on the dynamic characteristics of rubber crawler robot still plays an vital role in the future.With the continuous improvement of science and technology,the research on the dynamic characteristics of rubber crawler robot will be more and more comprehensive,and the influencing factors will be considered completely.Based on a large number of references,this paper studies the development history of rubber crawler robots,the current development facts and the problems hindering the development of rubber crawler.And the dynamic characteristics of rubber crawler robots are analyzed,and the mathematical model of linear dynamics is derived,and the dynamic mathematical model which is influenced by the ideal model and the considering slip effect,the considering centrifugal factor.If we want to study the relation of movement and trajectory of rubber crawler robots,we should focus on the dynamic mathematical equation,and the kinematics equation of rubber crawler robots is a mathematical model which describes the laws of physical motion of robots.The model contains the location of the robot,the velocity,the relationship between acceleration while accelerating is the differential of time,which is the main basis for dynamics analysis,position tracking and control realization of robots.It relies on Simulink software to analyze the dynamic performance of rubber crawler robot.Dynamics modeling analysis is carried out on the rubber crawler robots,mainly aims at establishing the object of the ideal dynamics simulation model and considering slip dynamics simulation model and considering centrifugal force dynamics simulation model.The simulation block diagram is constructed and it is respectively analyzed the different models.Main reference index for: active rotation speed ratio,steering angular velocity,steering radius,inside and outside driving force,steering center offset,the influence of different steering angular velocity of the offset,to offset the effects of different speed.Then,based on the original dynamic characteristic simulation,this study describes the multi-body system dynamics and constructs the virtual prototype of zd-650 rubber crawler robot by RecurDyn software.In addition,a walking system of rubber crawler has been built,and a different simulation model has been constructed,then the motion trajectory and dynamic characteristics of rubber crawler robot in different road conditions can be analyzed by comparison.With the study of dynamic characteristics of Simulink,the accuracy of the ideal model,considering the centrifugal force and considering the mathematical model of slip can be verified,also it provides reference for the dynamic characteristics of the zd-650 rubber crawler machine by that.