Analysis on Steering Mechanics Model of Tracked Tank Cleaning Robot

摘要

The physical model of a tracked tank cleaning robot that works on the sludge ground is set up, which provides a theoretical basis for optimizing the chassis design of the tank cleaning robot. In the modelling process, the sludge resistance of the track and the ground friction are taken into account, and the slip speed is introduced, and the steering torque during the course of the track is obtained. Finally, according to the design of the tracked robot and the related parameters of its working environment, the optimal design is used to obtain the optimum track width, grounding contact length, and the distance between two tracks. Theoretical analysis and simulation proves that the steering mechanics model is correct and effective.