Tracked robot and component design method thereof

Abstract

The invention discloses a tracked robot. The tracked robot comprises a tracked module, a vehicle body, a driving device and a controller, the tracked module applies a differential gear train theory, the degree of freedom of is 2, and the robot is connected with an output shaft of the driving device and driven by the driving device, that is, the number of prime movers is 1; the driving device is connected with the controller and is controlled by the controller; the tracked module, the driving device and the controller are all arranged on the vehicle body to integrally form an under-actuated device, so that the tracked robot can passively and adaptively switch multiple moving and obstacle crossing modes in various complex environments and stably and efficiently move. The invention further provides a robot part design method. According to the method, design, derivation and verification are mainly carried out from the aspects of structural configuration, geometric dimension, driving torque and the like of the robot, and a robot design scheme for solving the optimal problem is obtained, so that the advantages that the design cost is low enough and the available range of selected partsis wide enough while it is effectively guaranteed that the robot efficiently completes corresponding operation are achieved.

Description

technical field [0001] The invention relates to the technical field of robot design, in particular to a crawler robot and a component design method thereof. Background technique [0002] A robot is a machine device that automatically performs work. It can accept human commands, run pre-programmed programs, and act according to principles and programs formulated with artificial intelligence technology to assist or replace humans in completing tasks. Among them, the crawler robot has a large grounding specific pressure and has a strong ability to pass through complex terrain. It can carry cameras, detectors and other equipment to replace humans in some dangerous work, reducing unnecessary casualties. [0003] In some special environments such as military and emergency rescue, the crawler mobile robot's passing ability and quick response ability cannot meet the required state of application. In order to improve the passing ability of the robot, the existing robots rely on acti...

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Problems solved by technology

[0006] In view of the above-mentioned defects, the technical problem to be solved by the present invention is to provide a crawler robot and its component design method. The crawler robot can effectively improve its performance by passively and adaptively switching multiple moving and obstacle-crossing modes for different environments. Through ability and reaction speed, to solve the problem of insufficient passing ability and reaction speed of robots facing various complex environments in current technology

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