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Traction characteristic test platform for miniature crawler mobile robot

A crawler robot and test platform technology, which is applied in the testing of machine/structural components, vehicle testing, instruments, etc., can solve the problems of not being able to test soil subsidence, sliding rate and traction at the same time, so as to reduce sliding and improve movement ability , the effect of reducing energy consumption

Inactive Publication Date: 2015-09-23
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The invention aims to solve the problem that the crawler mobile robot cannot simultaneously test the soil subsidence, sliding rate and traction force in the prior art. The invention provides a small crawler robot traction characteristic testing platform

Method used

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  • Traction characteristic test platform for miniature crawler mobile robot
  • Traction characteristic test platform for miniature crawler mobile robot
  • Traction characteristic test platform for miniature crawler mobile robot

Examples

Experimental program
Comparison scheme
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specific Embodiment approach 1

[0034] Specific implementation mode one: see figure 1 Describe this embodiment, the traction characteristic test platform of small crawler robot described in this embodiment, it comprises wheel 1 with encoder, front laser displacement sensor 2, power supply and signal processing box 5, rear laser displacement sensor 7 and pull gauge 8;

[0035] The power supply and signal processing box 5 are fixed on the car body of the crawler robot 4 under test,

[0036] The power supply and signal processing box 5 is used to supply power to the encoder in the front laser displacement sensor 2, tension gauge 8, rear laser displacement sensor 7 and wheel 1 with encoder,

[0037] The wheel 1 with the encoder is fixed on the front part of the car body of the tracked robot 4 under test through a floating connection system, and the tension gauge 8 is fixed on the rear part of the car body of the track robot 4 under test through a profile bracket.

[0038] The tension signal input end of power ...

specific Embodiment approach 2

[0043] Specific implementation mode two: see figure 2 Describe this embodiment, the difference between this embodiment and the small crawler robot traction characteristic test platform described in the first embodiment is that the specific process of obtaining the sag of the crawler robot 4 under test by the power supply and signal processing box 5 is as follows:

[0044] When the crawler robot 4 under test is in a static state, take the contact point between the front wheel of the crawler robot 4 and the ground as the origin, establish a coordinate system in the horizontal plane, take the forward direction of the crawler robot 4 as the X axis, and the vertical X axis direction as Z The axis establishes the plane,

[0045] In the coordinate system xoz, the distance between the laser displacement sensor 2 and the ground before the acquisition by the power supply and signal processing box 5 is l 1 mm, the distance between the rear laser displacement sensor 7 and the ground is l ...

specific Embodiment approach 3

[0054] Specific embodiment three: the difference between this embodiment and the small crawler robot traction characteristic test platform described in specific embodiment one is that the specific process of obtaining the sliding rate of the tested crawler robot 4 by the described power supply and signal processing box 5 is:

[0055] During the movement of the crawler robot 4 under test, the angular velocity ω of the wheel 1 with the encoder is obtained through the encoder in the wheel 1 with the encoder, the power supply and the signal processing box 5 小轮 , the angular velocity ω 小轮 Substitute into the following formula to obtain the sliding rate i of the crawler robot 4 under test:

[0056]

[0057] Among them, ω 驱动轮 Indicates the angular velocity of the driving wheel of the tracked robot 4 under test, r 小轮 Indicates the radius of wheel 1 with encoder, r 驱动轮 Indicates the radius of the driving wheel of the crawler robot 4 under test.

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Abstract

A traction characteristic test platform for a miniature crawler mobile robot belongs to the driving traction characteristic control field, and helps to solve the problems that a conventional crawler mobile robot cannot simultaneously test soil sinking, sliding ratio and traction. The traction characteristic test platform comprises a wheel equipped with an encoder, a front laser displacement sensor, a power supply and signal processing box, a rear laser displacement sensor, and a tensiometer. The tension signal input end of the power supply and signal processing box is connected with the data signal output end of the tensiometer. The first displacement signal input end of the power supply and signal processing box is connected with the displacement signal output end of the front laser displacement sensor. The second displacement signal input end of the power supply and signal processing box is connected with the displacement signal output end of the rear laser displacement sensor. The front laser displacement sensor and the rear laser displacement sensor are fixed to a vehicle body of a to-be-tested crawler robot through the same rigid cantilever beam. The traction characteristic test platform is mainly applied to crawler mobile robots.

Description

technical field [0001] The invention belongs to the field of drive traction characteristic control. Background technique [0002] The crawler mobile platform has high maneuverability, a certain ability to overcome obstacles and adapt to the environment, and its attitude controllability can meet the operation requirements of a stable vision system and accurate operation of the manipulator, so it has been widely used. Especially in the face of complex, unknown, and changeable unstructured environments, it can expand the contact area with the ground as much as possible in a limited space, and can absorb vibrations caused by factors such as sudden changes in the ground structure. Its compact structure , which can meet the requirements of robot cushioning and vibration absorption. [0003] For robots, the ability to move is the most basic and most important prerequisite. With the goal of robots having high motion ability and mobility, how to establish an accurate driving dynami...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M17/007
Inventor 王伟东杜志江张祥
Owner HARBIN INST OF TECH
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