Design and Dynamic Simulation Analysis of Walking Mechanism of Wheel-Track Composite Inspection Robots
Aiming at the problem of poor adaptability of the walking mechanism of traditional inspection robots on unstructured terrain,a wheeled walking robot walking mechanism was de-signed and dynamic simulation analysis was carried out.The front wheel of the wheel-track com-posite inspection robot adopted triangular track,which did less damage to the ground and showed better adaptability to unstructured terrain.The rear wheel used ordinary round wheels to reduce energy consumption in motion.The climbing performance and obstacle crossing performance of the walking mechanism of the wheel-track composite inspection robot were theoretically analyzed,and the theoretical maximum climbing grade,maximum height over vertical obstacles and maxi-mum width through trench obstacles were obtained.Finally,the multi-body dynamic model of the inspection robot was established using RecurDyn software to simulate different road surfaces,climbing angles,vertical obstacle heights and groove widths.The results show that the tension of track wheel increases,the tension fluctuates greatly,the driving wheel torque increases,and the driving wheel torque fluctuates greatly during climbing and obstacle crossing.
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NSTL
万方数据
