Design and obstacle surmounting performance analysis of a novel mobile chassis for inspection robot

被引：0

作者：

Nie J.-J. ^{[1
]}

Hou J.-K. ^{[1
]}

Xie X.-L. ^{[2
]}

Yan H.-Z. ^{[1
]}

机构：

[1] School of Mechatronics Engineering, Zhongyuan University of Technology, Zhengzhou

[2] College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang

来源：

Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2024年 / 54卷 / 02期

关键词：

Ackerman steering; chassis; in-situ steering; mobile robot; obstacle surmounting performance; vehicle engineering;

D O I：

10.13229/j.cnki.jdxbgxb.20221184

中图分类号：

学科分类号：

摘要：

A new type of mobile chassis with H-type balancing rocker mechanism for road adaptive inspection robot is designed for outdoor inspection in the petrochemical industry，which adopts a new“4h” symmetrical structure to realize four-wheel drive and steering operation of the chassis. Based on the introduction of the overall structure of the chassis，the design principles of the chassis drive mechanism and steering mechanism are analyzed，and the theoretical models of the chassis Ackermann 4WS steering and in-situ steering are established to provide a theoretical basis for the motion control of the robot chassis. The theoretical analysis and simulation of the unilateral obstacle-surmounting process of the robot chassis were carried out， and the simulation comparison with the obstacle-surmounting process of the common integrated chassis was conducted to study the driving stability of the chassis during the obstacle-surmounting process. Finally， the steering mode experiment and unilateral obstacle surmounting experiment of the chassis prototype were conducted. The results show that the mobile chassis can realize the switching of drive and steering modes，and the chassis has a smooth motion attitude when conducting unilateral obstacle surmounting，with good road self-adaptive ability and obstacle surmounting performance. © 2024 Editorial Board of Jilin University. All rights reserved.

引用

页码：356 / 364

页数：8

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