Dynamics modeling analysis for tracked mobile robot

HUANG Siji, OU Yi, TAO Weijun, FENG Hutian
(School of Mechanical Engineering, Nanjing University of Science & Technology, Nanjing 210094, China)

Abstract: Currently, aiming at the problem that, modeling, simulation and control of the system of the tracked mobile robot are imperfect, the mobile modular manipulator was considered as a overall structure and a system model of the tracked mobile robot with nonholonomic constraints was built. A nonholonomic constraint system model of tracked mobile robot was formulated by applying an integrated dynamic model and considering the mobile modular manipulators as a unit. Based on the extreme theory and consideration of trackterrain interactions, the direct kinematics analysis and the turning dynamic analysis of the mobile robot respectively were conduced, and slippage ratio curves were obtained. The Lagrange dynamic method of the robot and Routh equations of nonholonomic dynamics were used to establish a precise dynamic model. Subsequently, the nonholonomic dynamic model and the traditional solution model of driving force curves were compared. The results show the feasibility of the formulated mathematical model.
Key words: tracked mobile robot; longitudinal slippage velocity; nonholonomic dynamics modeling