Research on steering characteristics of tracked mobile robot

In order to describe the steering characteristics of the tracked mobile robot, the linear distributions for lateral resistance of the robot's track and contact pressure of the track and ground were considered. When the robot was steered at low speed and high speed, steering resistance moment model which indicated the ground resistance torque magnitude of robot steering was established separately. The difficulty of robot steering was expressed in terms of the ratio of total power of linear motion and steering movement. Flexibility of the robot was analyzed in a large radius and small radius steering movement. Rated load capacity of the motor was checked by the steering power. Relations structural parameters of the robot, turning radius and steering power were analyzed. Relations of structural parameters of the robot, turning radius and steering power were analyzed. The results show that the larger steering radius of the robot is, the more flexible the steering is, and the smaller steering power of the driving wheel of the outside track is. And the larger slip angle of the robot is, the greater the check coefficient of steering power is, and the greater steering power of the driving wheel of the outside track is. A theoretical basis is provided for the optimization of the robot's structural parameters and the choice of motors.