Studying and Simulation Analysis for Rubber Track of Rescue Robot

Abstract

Rubber track of Rescue Robot was dispersed into limited number of track blocks by the method of finite segment method used in flexible multibody dynamics. The two neighbor track blocks were connected by springs and dampers, then the moldel was become a multi-rigid-body system with flexible joint. Rubber track was modeled with the help of macro command used in the secondary development of virtual prototype technique software named ADAMS. Flexible connection was realized by the method of adding Bushing, and then a new method was proposed to build rubber track model. The obstacle-surmounting simulation of climbing the barrier of single step was carried out. It intuitively reflected the stress and deformation under the condition of climbing barrier. The method mentioned above laid good foundation for studying obstacle-surmounting abilities of the rubber-tracked robots and dynamic characteristic of the tracks.