Experimental study of a tracked mobile robot's mobility performance. (June 2018)

• Record Type: Journal Article
• Authors: Wang, Weidong; Yan, Zhiyuan; Du, Zhijiang
• Is Part Of: Journal of terramechanics. Volume 77(2018)
• Page Start: 75
• Page End: 84
• Publication Date: 2018-06
• Subjects: Tracked mobile robot -- Terrain–track interaction -- Drawbar pull -- Tractive performance -- Experimental study; Trafficability -- Periodicals; Praticabilité (Routes) -- Périodiques; Trafficability; Periodicals; 629.222
• DOI: 10.1016/j.jterra.2018.03.004
• Languages: English
• ISSNs: 0022-4898

Abstract

Highlights: An interaction model of a flexible track and terrain is developed. The measurement methods of the key parameters of the model are designed. Test methods of a tracked mobile robot in outdoor environment is established. The terrain parameters identification using a light tracked robot is presented. Abstract: This paper proposes an experimental method of predicting the traction performance of a small tracked mobile robot. Firstly, a track-terrain interaction model based on terramechanics is built. Then, an experimental platform of the tracked robot is established, on which the measurement methods of the parameters that influencing the accuracy of the prediction model are introduced and the data post-processing are improved, including drawbar pull, slip ratio, sinkage, track deformation and so on. Based on the experimental data, several key terrain parameters are identified. With the tracked robot platform, the drawbar pull-slip ratio relationship is tested, and the effects on drawbar pull considering different kinds of terrain and the influence of the grousers are analyzed as well. The research results provide a reference for the experimental study on the traction performance of small tracked robots.