Research On Deformable Polyhedron Roadblock Robot

Nowadays,tracked combat vehicles emerge in endlessly.Traditional roadblocks for tracked vehicles are mostly in fixed forms and need to be laid out in advance.In order to deal with the current crawler vehicles and block their movement,this thesis studies the deformable polyhedral roadblock robot.The purpose is to improve the flexibility of the anti-track vehicle device and upgrade the function of the anti-track vehicle device.First,the tracked vehicles and the traditional obstruction facilities are investigated and researched,the mechanism of the traditional road barrier facilities is analyzed,and the current status of the related research on polyhedral robots is understood.Analyzing related design requirements,the robot should adopt a simple and reliable configuration.The polyhedron is selected,and the polyhedron similar to a regular tetrahedron is selected as the basic configuration.In order to achieve the purpose of blocking the tracked vehicle,the relevant parameters of the tracked vehicle are analyzed,and the relevant parameters of the polyhedron are designed.Then proceed to the selection of deformation and movement schemes.Responding to combat conditions,the robot need relatively fast speed,so it adopts a combination of wheeled movement and polyhedral robot linkage deformation.Analyze and compare the advantages and disadvantages of several configurations,and determine the use of 3-RRS configuration for robot design.In order to determine the deformation of the deformable polyhedral roadblock robot,the degree of freedom of the mechanism is calculated,and then the kinematics calculation and theoretical analysis are performed on it.Use hexagons to design the platform.List the overall parameters of the mechanism.The dynamic simulation analysis of the deformable polyhedral roadblock robot is carried out to verify its movement and deformation.Finally,the prototype of the deformable polyhedral roadblock robot is specifically designed,including the design of the movement plan,the rods,the locking device,the buffer device and the camouflage facility.Check and analyze the mechanics of the key parts.Choose to make a scaled-down prototype,select the processing method,the detailed design of the rotating pair mechanism,and the detailed design of the moving structure.Carry out the calculation,selection and installation of the motor.The control module is also selected.Finally,the relevant test of the prototype is carried out to verify the deformation of the prototype,thereby proving the feasibility of the prototype.The study of deformable polyhedral roadblock robots can improve the ability of my country’s military to block tracked combat vehicles,and it plays an active role in promoting the development of China’s military industry.At the same time,this device can be further developed and further studied,and has a broad prospect of being used in many fields.