履带机器人通用地面力学模型分析与底盘设计

A universal terramechanics model and the chassis design of a tracked robot

为了解决如何选取最优的履带机器人底盘相关参数的问题,创建一个包含履带底盘相关参数的通用履带机器人地面力学模型。选取在软地面进行转弯的履带机器人作为物理模型进行数学建模,在建模过程中,考虑履带推土阻力与地面摩擦力,并引入打滑速度,最终得到了履带转弯过程中所受阻力矩的数学模型。根据正在设计的履带机器人以及其工作环境路面的相关参数进行优化设计,得到了最优的履带宽度、接地长度与两条履带的间距。最后,根据所得到的结果进行了样机的试制与试验,所得结果与理论计算结果相接近。结果表明,所创建的履带机器人通用地面力学模型在进行机器人底盘设计时具有一定的理论指导意义。

In order to solve the problem of selecting the optimal parameters of the tracked robot chassis, a universal terramechanics mode/of tracked robot with related parameters was created. The tracked robot turning in the soft ground was used as the physical model of the mathematical modeling. In the process of modeling, considering the bulldozing resistance and the ground friction, by introducing the sliding speed, the resistance moment mathematical model of the turning process was obtained. According to the parameters of the tracked robot being designed and the corresponding pavement parameters, the optimal track width, the length of track on the ground and the distance be- tween two tracks of the coal mine rescue robot were got. Finally, a trial of the prototype was carried out, and the test results were close to the theoretical calculation. The result proves that the universal terramechanics model has certain theoretical guidance meaning in the design of the robot chassis.