Research and application of a coupled wheel-track off-road robot based on separate track structure

IF 2.1 4区工程技术

Advances in Mechanical Engineering Pub Date : 2024-09-14 DOI:10.1177/16878132241265862

Chengke Jin, Chao Wang, Kai Tang, Chenhang Jiao, Yongjuan Wang

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引用次数: 0

Abstract

A novel coupled wheel/track mechanism is proposed to overcome the complexity and limited applicability of conventional coupled wheel/track robots. The mechanism is based on the design of a tracked off-road robot, where the track is separated from the driving wheel and the load-bearing wheel by a fork fixed on the frame. The tension-wheel compensates for the shortening of the track winding length by moving along the frame. The chain transmission between the first pair of load-bearing wheels and the driving wheel enables the wheeled operation. The coupling mechanism is characterized by only one set of walking mechanism, and the coupling is realized by separating part of the walking mechanism, avoiding the use of the clutch. The advantages of this mechanism are its simple and reliable structure, low cost, and easy installation of the suspension system. A simulation experiment is conducted to verify the performance of the mechanism, and a prototype is designed and manufactured for testing. The structure was used to design simulation experiments, and a test model of the vehicle was designed and fabricated. The design specifications were achieved by the results.

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基于独立履带结构的轮履耦合越野机器人的研究与应用

为了克服传统耦合轮/履带机器人的复杂性和有限的适用性，我们提出了一种新型耦合轮/履带机构。该机构基于履带式越野机器人的设计，其中履带通过固定在车架上的叉子与驱动轮和承重轮分离。张紧轮通过沿框架移动来补偿履带缠绕长度的缩短。第一对承重轮和驱动轮之间的链条传动实现了轮式运行。耦合机构的特点是只有一套行走机构，通过分离部分行走机构实现耦合，避免了离合器的使用。该机构的优点是结构简单可靠，成本低，悬挂系统安装方便。为了验证该机构的性能，我们进行了模拟实验，并设计和制造了原型进行测试。利用该结构设计了模拟实验，并设计和制造了车辆测试模型。结果达到了设计要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Advances in Mechanical Engineering Engineering-Mechanical Engineering

自引率

4.80%

发文量

353

期刊介绍： Advances in Mechanical Engineering (AIME) is a JCR Ranked, peer-reviewed, open access journal which publishes a wide range of original research and review articles. The journal Editorial Board welcomes manuscripts in both fundamental and applied research areas, and encourages submissions which contribute novel and innovative insights to the field of mechanical engineering