Passive Adaptive Robot Obstacle Analysis and Optimization

5th Annual International Workshop on Materials Science and Engineering

Sun, Lingyu^1 ; Liu, Xiaoya^1 ; Li, Zhilong^1

College of Mechanical Engineering, Hebei University of Technology, No. 1 Dingzigu Road, Hongqiao District, Tianjin

300000, China^1

关键词: Analysis and simulation;    Carbon-fiber materials;    Linkage mechanism;    Objective functions;    Obstacle analysis;    Obstacle performance;    Optimization parameter;    Structural parameter;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/585/1/012109/pdf
DOI  :  10.1088/1757-899X/585/1/012109

来源: IOP

【 摘 要 】

In order to improve the obstacle performance of robots in complex terrain environment, a crawler passive adaptive robot is proposed, which is mainly composed of car body module and track module. The link mechanism of the track module has a degree of freedom, and the carbon fiber material has the characteristics of light weight and high rigidity. The obstacle course of the crawler module is introduced, and the mathematical model is established. The obstacle obstacle ability is analyzed. On this basis, the optimization parameters and the objective function are proposed. The rod length parameters of the linkage mechanism are optimized by matlab. The analysis and simulation motion analysis of the optimized linkage mechanism verify the rationality of the obstacle performance and structural parameter design of the robot.