Purpose

This paper aims to present a new method to analyze the robot’s obstacle negotiation based on the terramechanics, where the terrain physical parameters, the sinkage and the slippage of the robot are taken into account, to enhance the robot’s trafficability.

Design/methodology/approach

In this paper, terramechanics is used in motion planning for all-terrain obstacle negotiation. First, wheel/track-terrain interaction models are established and used to analyze traction performances in different locomotion modes of the reconfigurable robot. Next, several key steps of obstacle-climbing are reanalyzed and the sinkage, the slippage and the drawbar pull are obtained by the models in these steps. In addition, an obstacle negotiation analysis method on loose soil is proposed. Finally, experiments in different locomotion modes are conducted and the results demonstrate that the model is more suitable for practical applications than the center of gravity (CoG) kinematic model.

Findings

Using the traction performance experimental platform, the relationships between the drawbar pull and the slippage in different locomotion modes are obtained, and then the traction performances are obtained. The experimental results show that the relationships obtained by the models are in good agreement with the measured. The obstacle-climbing experiments are carried out to confirm the availability of the method, and the experimental results demonstrate that the model is more suitable for practical applications than the CoG kinematic model.

Originality/value

Comparing with the results without considering Terramechanics, obstacle-negotiation analysis based on the proposed track-terrain interaction model considering Terramechanics is much more accurate than without considering Terramechanics.

中文翻译：

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基于地形力学的履带式机器人越障分析

目的

本文旨在提出一种基于地形力学的机器人越障分析新方法，该方法综合考虑地形物理参数、机器人下沉和滑移等因素，提高机器人的通过性。

设计/方法/方法

在本文中，地形力学被用于全地形障碍物协商的运动规划。首先，建立轮/履带-地形交互模型并用于分析可重构机器人在不同运动模式下的牵引性能。接下来，重新分析越障的几个关键步骤，并通过这些步骤中的模型获得下沉、滑移和拉杆拉力。此外，还提出了一种松散土障碍物协商分析方法。最后，在不同的运动模式下进行了实验，结果表明该模型比重心（CoG）运动学模型更适合实际应用。

发现

利用牵引性能实验平台，得到不同运动模式下牵引杆拉力与滑移的关系，进而得到牵引性能。实验结果表明，模型得到的关系与实测值吻合较好。通过越障实验验证了该方法的有效性，实验结果表明该模型比CoG运动学模型更适合实际应用。

原创性/价值

与不考虑地形力学的结果相比，基于所提出的考虑地形力学的轨道-地形交互模型的障碍物协商分析比不考虑地形力学要准确得多。