基于地面力学的履带式机器人牵引特性分析-traction characteristics analysis of crawler robot based on ground mechanics.docxVIP

AbstractMobile robots have found an increasingly wide utilization in recent years, this make a higher request for robots adaptive capacity to unknown environment. The uncertainty and complexity of environment require mobile robot better trafficability to different running terrain surfaces. In order to make research on the robots trafficability to different surfaces, enhance the adaptive capacity to different terrains, provide the technical support for automatic unmanned operation, this article will make research on the tracked robot traction performance on different terrain surfaces in both theoretical and experimental ways.Firstly, make analysis on terrain feature and select the experimental terrain type, combined with the practical situation, based on the terrain classification criteria .Make research on the bearing property and shear property of different types of terrain, especially how the bearing property parameters and shear property parameters influence the soil stress. Analyze the normal stress and shearing stress relationship based on soil parameters. These researches will provide the theory basis for the tracked robot traction performance model.Make research on the track-terrain interaction mechanism based on terramechanics. Build the traction model of the track-soil interaction that center on the traction-slip relation. Model the traction performance related to the interaction effect between robot track and different types of terrain (sand, clay and snow). Make research on the soil sinking, normal stress and shearing stress along the track-soil interaction interface. Build the track grouser effect to traction performance model based on compression-sliding theory. Combine the two models according to the track grouser action zone. Analyze the effect of different types of terrain, track grouser shape parameters and vertical loads to the drawbar pull according to the combined model. Make simulation examples of the model in MATLAB. Model the traction performa