Simulation Research on the Grouser Effect of a Reconfigurable Wheel-Crawler Integrated Walking Mechanism Based on the Surface Response Method
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Published:2023-03-26
Issue:7
Volume:13
Page:4202
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ISSN:2076-3417
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Container-title:Applied Sciences
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language:en
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Short-container-title:Applied Sciences
Author:
Zhou Pengfei12,
Tang Shufeng12ORCID,
Sun Zaiyong1
Affiliation:
1. Science College, Inner Mongolia University of Technology, Hohhot 010051, China
2. Inner Mongolia Key Laboratory of Special Service Intelligent Robotics, Hohhot 010051, China
Abstract
To improve the unstructured terrain traversing performance of the scientific research robot of the Qinghai–Tibet Plateau station, the parameters of the track shoe of the reconfigurable wheel-crawler walking mechanism were studied. Based on a typical track shoe puncture effect model, the experimental design was carried out based on the surface response method, and the dynamic model of the triangular crawler mode of the reconfigurable wheel-crawler walking mechanism was constructed and tested using RecurDyn V9R3 software. Through an analysis of the simulation results, the interaction of the grouser parameters was further clarified, and the regression equation of the traction force of the walking mechanism was obtained. The grouser parameters that enabled the reconfigurable wheel-crawler walking mechanism to have the maximum traction were obtained; these will be used to guide the machining of the prototype walking mechanism.
Funder
the National Key R&D Program of China
the National Natural Science Foundation of China
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
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