Analysis and Simulation of Four-track Inspection Robot Walking Mechanism
Aiming at the complex working environment of inspection robots,a four-track double-rocker type inspection robot walking mechanism is studied.From the kinematic point of view,the ob-stacle crossing ability of the robot walking mechanism is described by establishing the parameter coordi-nate system of the robot in the process of climbing steps and crossing the ravine,and analyzing the change of its center of mass.3D modeling with Solidworks,a three-dimensional random pavement model is established by Matlab.Then it was imported into Adams to complete the simulation experiment of the robot walking mechanism climbing steps and crossing ravines.Based on the analysis of the simulation re-sults,the robot walking mechanism can climb 200mm high steps and cross 500mm wide ravines,and can obtain the speed and acceleration of the driving wheel when the robot climbs over steps and crosses ravines.Through virtual simulation and prototype debugging,it can be obtained that the robot has good adaptability and obstacle crossing ability on the obstacle road,which brings great practical application value and promotion space for the inspection work in the dangerous and special road environment.