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Shock and Vibration
Volume 2016 (2016), Article ID 6363071, 14 pages
Research Article

Design on a Composite Mobile System for Exploration Robot

1State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
2Department of Mechanical Engineering, Ningbo University of Technology, Ningbo 315000, China
3College of Information and Control, Nanjing University of Information Science and Technology, Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Jiangsu 210044, China

Received 6 October 2015; Accepted 6 December 2015

Academic Editor: Rafał Burdzik

Copyright © 2016 Weiyan Shang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS) has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied. Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented. Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design. As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted. By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified. Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs.