关键词: 履带式机器人, 前调节杆, 优化设计

Abstract: The structural design of tracked robots is of great importance to improve their ability to carry out various tasks under difficult and dangerous conditions. Focusing on the problem that the obstacle height of conventional crawler robot is greatly affected by the distance between center line of induced wheel and the ground, a structure design program about the deformable tracked robot based on four-bar linkage mechanism with self-adaptability is proposed. Theoretical analysis and virtual simulation are used to describe the robot‘’s motion characteristics, and the structural optimization design of the robot爷s front adjusting part is finished by finite element analysis.Finally, the transmission system, control system and control interface of the robot are designed and developed, completing the development of tracked robot. Result shows that the obstacle avoidance performance of the deformable tracked robot is sound, which can be used in the fields such as military investigation, detection, rescue, investigation and so on, and the application prospect of this kind of robot is well.

Key words: tracked robot, front adjustment bar, optimized design