Enhancing Terrain Adaptability of Micro Tracked Chassis: A Structural Design and Performance Evaluation

Abstract

 Mobile robots operating in complex terrains require superior traversability and adaptability. This study addresses this challenge by proposing a novel micro-tracked chassis design with enhanced adaptive terrain capabilities. The design leverages track chassis as the bearing mechanism and optimizes its structure for improved performance. A combined approach of theoretical analysis (e.g., mechanics calculations) and RecurDyn software simulations is employed to evaluate the chassis's ability to traverse various obstacles, including longitudinal and transverse slopes, trenches, and vertical barriers. The analysis reveals key performance parameters, demonstrating a maximum climbing angle of 35°, a maximum side slope of 30°, a maximum trench crossing width of 400 mm, and a maximum surmountable vertical obstacle height of 150 mm. Furthermore, simulations on different soil types (sand, clay, and heavy clay) show superior passability on sandy terrain. Additionally, a forward and downward center of mass configuration enhances obstacle crossing performance and driving stability. This research provides valuable insights and a theoretical foundation for the design of micro tracked chassis with exceptional off-road capabilities.