Abstract
A multistage adaptive lateral deformation tracked robot was designed to improve the passing ability of field robots. The designed robot can change its width under the combined action of space barrier constraint and internal stored elastic potential energy. The lateral sliding friction affected by grouser parameters during lateral deformation is a key factor that determines whether or not the robot can achieve deformation. This study focuses on the track terramechanics and grouser parameter optimization. On the basis of the theory of terramechanics, the interaction of the flexible track lateral movement with the ground model and traction model was established. Taking the requirement of traction as the constraint condition and the minimum lateral sliding resistance as the optimization objective, we used the multitarget optimization algorithm (NSGA-II) to optimize and analyze the grouser parameters. Then, the optimal combination of grouser parameters was obtained. Simulation analysis was carried out on RecurDyn software to complete the simulation verification of the lateral force and traction force under different grouser parameters. The correctness of the theoretical model and the optimization of the grouser parameters was verified through prototype experiments.
Highlights
Natural disasters and accidents have occurred frequently in recent years, and the corresponding loss of lives and properties has been increasing
Current reconnaissance and rescue robots have their own characteristics, they cannot enter spaces that are smaller than their own widths due to their mechanical structure, dimensions, driving force, and other factors
Optimizing the grouser to minimize the lateral sliding resistance under the condition in which the traction force is large enough. Especially the former one that has emerged as a hot research topic, we designed a multistage adaptive lateral deformation tracked robot, established a tracked terramechanics model made of flexible rubber, optimized track parameters, and completed simulation and experimental verification
Summary
Natural disasters and accidents have occurred frequently in recent years, and the corresponding loss of lives and properties has been increasing. Current reconnaissance and rescue robots have their own characteristics, they cannot enter spaces that are smaller than their own widths due to their mechanical structure, dimensions, driving force, and other factors. They cannot complete rescue tasks well in complex disaster environments [11]. Optimizing the grouser to minimize the lateral sliding resistance under the condition in which the traction force is large enough To address these deficiencies, especially the former one that has emerged as a hot research topic, we designed a multistage adaptive lateral deformation tracked robot, established a tracked terramechanics model made of flexible rubber, optimized track parameters, and completed simulation and experimental verification.
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