Analysis of obstacle-crossing ability of swing arm tracked robot with auxiliary wheels
Tracked mobile robots are widely used in military and security fields because of their good environmental adaptability.To overcome the shortcomings of complex structure,huge weight and large volume of traditional swing arm tracked robots and improve their obstacle-crossing ability,this paper proposed a swing arm tracked mobile robot with auxiliary wheels.The geometric model of the robot was first designed to analyze the obstacle-crossing mechanism of the robot and deduce the forward and inverse kinematic equations that applied to the swing arm.The kinematic models of the robot under the conditions of non-slip and slip were established respectively.A multi-body dynamic simulation model of the track was then established by using the finite body segment model for the flexible body.The dynamic performance of the robot was finally analyzed comprehensively through the variations in the track slip rate,the height of the centroid,the track contact force with ground and the swing wheel force.The proposed swing arm tracked mobile robot with wheels shows good obstacle-crossing performance under step-climbing,hill-climbing and gap-crossing conditions.
swing armtracked mobile robotflexible bodyfinite segment modelmulti-body dynamicsobstacle-crossing ability
NETL
NSTL
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