Steering dynamic performance analysis of the tracked mobile robot

International Conference on Manufacturing Technology, Materials and Chemical Engineering

机械制造;材料科学;化学工业

Chen, Z.Y.^1 ; Chen, G.Z.^1 ; Qi, L.Z.^1 ; Yin, F.^2 ; Li, D.D.^1 ; Shi, M.J.^1

College of Nuclear Technology and Automation Engineering, Chengdu University of Technology, Chengdu, China^1

Library, Southwest Minzu University, Chengdu, China^2

关键词: Centrifugal force model;    Centrifugal Forces;    Dynamic parameters;    Ideal model;    Mathematical expressions;    Simulink simulations;    Steering dynamics;    Tracked mobile robots;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/392/6/062038/pdf
DOI  :  10.1088/1757-899X/392/6/062038

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

In order to obtain the relationship and the change regulation of dynamic parameters of the tracked mobile robot in the steering process, the dynamic models under the influence of slip and centrifugal force are established respectively. At the same time, the mathematical expressions of the deflection of the steering center and the pressure on the track are obtained. The relationship of parameters is analyzed by Simulink simulation software and the error of the slip model, the centrifugal force model and the ideal model and is compared.