Driving Performance Analysis of a Tracked Mobile Robot on Different Terrains

摘要

predicting the track-terrain interaction has a great impact on the mechanical design, evaluation and optimization of dynamic simulation of tracked mobile robots (TMR) and soil parameter identification. Moreover, due to the complicated dynamics of TMR, it is difficult to predict the driving performance theoretically. However, proper software makes it possible to simulate dynamic performance of tracked vehicles more accurately. Hence, using a computer based analysis becomes necessary. In this study, a TMR is simulated on four different terrains namely, agricultural soil, snow, loam and sand. Universal Mechanism (UM) software is used for this purpose. Simulation results are analyzed to evaluate the TMR performance on these terrains. The driving performance is compared utilizing performance indices such as slip, sinkage and efficiency. It is shown that the driving performance is principally related to the specifications of the terrains. As the friction modulus, and the exponent of deformation increase the efficiency decreases. Further, it is shown that more sinkage of the TMR results in more slip.