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Ground- armed robot mechanical system design and experimental study

Author: HuangSiJi
Tutor: FengHuTian；OuYi
School: Nanjing University of Technology and Engineering
Course: Mechanical and Electronic Engineering
Keywords: Armed robot on the ground Modular design Perturbation the probability finite element ( PSFEM of ) Reliability Nonholonomic dynamics model
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 71
Quote: 0
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Abstract

Become the focus of the study of the world in the the increasingly rampant terrorist activities grim situation, the mobile robot suitable for urban fighting terrorism, while the light the ground-armed robot With its small size, light weight, good for hiding and viability with high mobility and good environmental adaptability characteristics, sneak into the enemy's military importance, armed combat or reconnaissance, ground-armed robot lightweight, compact design can significantly improve the operational performance of the mobile robot. To the ground armed robot system, which specifically includes: the ground armed robot mechanical system design, chassis systems design, critical parts reliability design, the dynamics model, the principle prototype experiment, as well as optimize design. Two parts of the mobile chassis system module and upper-equipped system module designed for ground combat missions of the armed robot, the environment, the design requirements and the technical difficulties, respectively, by means of a flange interface, the upper-equipped system can be optional according to the specific needs of the robot can be replacement weapons unit reconnaissance and targeting equipment. In the the robot overall design, there is always a set of contradictions: the large power requirements of the power section provides large output torque, high-speed power section provides a high output speed. To solve this problem, design a simple and compact for small mobile robot two tranches of the transmission mechanism. Dynamic performance has improved significantly, while taking into account the two chassis Ping Road high-speed,, climbing high output torque, meets the system requirements. Probability finite element method in order to verify the correctness and rationality of the design, the use of perturbation of the key components of reliability analysis. ANSYS APDL language to build a parametric model, and reliability of the design with the traditional calculation method is simple, high accuracy, compared with Monte Carlo simulation results, the amount of computation is significantly reduced. The uncertainty of the robot system as a whole from a mobile chassis equipped with a system of mutual coupling role and random interference caused by mobile chassis and unstructured environment role. The upper equipped with a system to do a whole structure to consider a nonholonomic constraint robot systems model. Forward kinematics analysis of the use of the limit theory; consider the interaction of factors of the track on the ground, steering dynamics analysis of mobile robot, obtained slip rate curve; make use of the robot the Lagrange dynamics method and nonholonomic dynamics Routh equations establish accurately tracked ground mobile robot dynamics model; subsequently concluded model for solving the driving force curve with the classical calculation methods compared to verify the feasibility of the construction of a mathematical model. From the the mechanical chassis system design, the upper equipped system design point of view designed a the ground armed robots principle prototype. Road driving results show that its performance meets the design requirements of a certain type of ground-armed robot.

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