关键词: 动力学模型, 复合式移动系统, 探测机器人, 悬架参数, 优化仿真

Abstract: In order to improve the ride performance of mobile exploration robot, a compound mobile system for field exploration task is designed. There is a structure of rocker-bogie designed in this mobile robot to connect the front wheel and the rear wheel. And there is also a differential balance mechanism to make linear average of rotation angle from the left rocker and the right rocker. The suspension system of mobile robot has been simplified, then the vibration model is established and dynamics analysis is made accordingly. The following values are analyzed, which is the effective and maximum value of bodywork acceleration, the effective and maximum value of wheel dynamic load, and the ratio of not being hit on rear wheel suspension system. These values are defined as the evaluation statistics for ride performance. Then a mathematical model for compound mobile system is provided, and the design variables and objective function is defined. As the constraints been established, design variables are optimized by NSGA-II. Reasonable structure parameters for the suspension are calculated. Correctness optimization simulation is verified by tests and the effective structure parameters are also provided to improve the robot’s ride performance.

Key words: Compound mobile system, Dynamic model, Exploration robot, Suspension parameters Optimization simulation