弹药处理机器人半弹性橡胶履带行驶装置设计

Design and calculate on rubber track traveling device of dangerous ammo disposal robot

根据危险弹药处理机器人的工作条件,设计一种半弹性橡胶履带行驶装置。根据橡胶履带行驶装置的结构形式,提出履带支重轮载荷分配方案,并推导出在非均匀接地比压下,原地转向时的转向阻力矩计算公式,为履带行驶装置转向性能设计计算提供依据。

Abased on the work conditions of dangerous ammo disposal robot, a semi-elastic support rubber track traveling device was designed. The load distribution scheme of track supporting wheels was brought up, and when the grounded pressure was wellproportioned, the calculation formulary for the resistant steering moment of spot steering was educed. Such above provided the foundation for calculating and designing the steering of track traveling device.