Combinable Tracked Robot Obstacle Overcoming Performance Research

In recent years,artificial intelligence is booming,intelligent robot as the main application gradually comes into people's life,and the ground mobile robot has been widely used in military warfare,space exploration,disaster relief and other occasions.The complex geographical environment of military warfare,the unpredictability of space exploration and the complexity of disaster relief are all in urgent need of robots to replace human beings to better complete tasks.Based on the research status of crawler mobile mechanisms at home and abroad,this paper compares and analyzes the respective characteristics of various crawler mobile mechanisms.According to these characteristics,a planetary crawler obstacle crossing mechanism with a combinable and passive adaptive is proposed.This mechanism not only enables the robot to move in different forms of movement according to the change of terrain conditions during the movement,but also can be disassembled and assembled freely.Combined into different track wheels to adapt to different working conditions.After designing the car body and determining the selection of the crawler transmission module,this paper establishes its kinematics and dynamics model on the level ground for the crawler mobile platform,and analyzes the movement characteristics of the crawler robot on the level ground.The obstacle-climbing performance of the planetary crawler wheel under the three types of crawler wheels is analyzed,and the dynamic model is established to calculate the motor torque and the limit obstacle height required by the robot when climbing obstacles.At the same time,the robot is calculated and analyzed.Motor torque required when climbing hills,crossing trenches,bosses and other obstacles.Using multi-body dynamics simulation software,a virtual model of the track-wheeled crawler robot is created,and the torque change curve of the driving wheel is obtained during the movement of the robot on the slope,trench,and step terrain.On this basis,the structural parameters of the robot are determined in conjunction with the actual situation,and the theoretical analysis is verified through simulation experiments.The main advantages and innovations of the crawler robot mentioned in this article are as follows:(1)The crawler wheel module of the robot adopts a passive self-adaptive design.When encountering obstacles,it can adaptively adjust the form of obstacle crossing according to the height of the obstacle.When the obstacle is low,The robot will cross obstacles in crawler mode;when the obstacle is high,it will cross obstacles in rocker mode.(2)The wheel body of the robot adopts a detachable combination form,and suitable track wheels can be selected according to different working conditions to improve the adaptability of the robot to the terrain...