Analysis of Climbing Obstacle Trafficability on the All-terrain Mobile Robot
In order to study the ground passability of all-terrain mobile robots,the passability of the robots is analyzed by means of theory analysis and ADAMS software simulation analysis.The conditions of contour pas-sability,suspension passability,loss of passability over vertical obstacles and loss of passability over trenches are analyzed.The limiting dimensions of the all-terrain mobile robot are obtained for suspension failure,vertical ob-stacle crossing and ditch crossing,and the influence of obstacle inclination angle and obstacle height on motor output torque of all-terrain mobile robot is obtained.The influence of soft soil on the performance of the all-ter-rain mobile robot is also obtained.
all-terrain mobile robotobstacle crossingindependent suspensionpassability
NETL
NSTL
万方数据
