Research on Obstacle Crossing Performance of Joint Crawler Nuclear Emergency Robot
To figure out adapt to the characteristics of strong radiation and unstructured terrain in the nuclear accident site,a joint crawler nuclear emergency robot with radiation protection and strong obstacle crossing capability is designed.The obstacle crossing capability of the robot is analyzed in three working conditions,namely,step,slope and trench by theoretical modeling and dynamic simulation.The theoretical value and simulation test value of the robot's obstacle crossing capability are compared and analyzed.The accuracy of the dynamic model is verified.According to the established robot model,the influence law of the center of mass on the stability of the robot is studied.The optimization scheme to improve the stability of the robot is proposed by re-ducing the fluctuation range of the radius of the mass center.The minimum value of the radius of the center of mass is obtained by simulation,which provides a reference for the study of the stability of robot obstacle crossing under the non-structured terrain con-ditions in nuclear environment.
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