Track-terrain interaction analysis for tracked mobile robot

摘要

A tracked robot is introduced from machinery, hardware system to software system. The features of mechanical system are modular design, suspension system and radiation protection and waterproof and onboard manipulator. Two swing arms are equipped in the front of the robot to improve robotpsilas obstacle-climbing performance. The sensors include CCD camera, CO, CH4, temperature and radiation are equipped on the robot. Because this robot works in unstructured environment, locomotion performance plays an important role. With the analysis of the track-terrain interaction, a simplified track-ground model is developed. The track in contact with the terrain can be divided into three parts, namely, the front road wheel, the rear road wheel and the middle track. Using this model, we can analysis tracked robot locomotion performance, design motion system of a mobile robot and control a tracked robot.