Structural design of differential chassis for wheeled inspection robots and optimization of obstacle-crossing performance
Yue, Yang (2026)
Kandidaatintyö
2026
School of Energy Systems, Konetekniikka
Kaikki oikeudet pidätetään.
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2026042835485
https://urn.fi/URN:NBN:fi-fe2026042835485
Tiivistelmä
To address the limited crossing ability of traditional wheeled inspection robots on complex terrains, this thesis focuses on the structural design and optimization of crossing performances. Combining inspection tasks requirements, the overall design, components material selection, motor selection and 3-dimensional modelling, assembling and enhancing crossing ability are completed.
Focusing on crossing ability, wheel diameter, leg length and ground clearance are selected for sensitivity analysis and optimization. Also, the impacts from spring parameters variation to the ground clearance are analysed. Meanwhile, finite element analysis is conducted for key load bearing component to verify the structural strength and reliability.
The results indicate that the designed differential chassis meets the structural layout and motion requirements. Matching key parameters reasonably can effectively improve crossing performances. Essential component has good strength and structural reliability under pre-defined working conditions. This study could provide a reference for wheeled inspection robots differential chassis design.
Focusing on crossing ability, wheel diameter, leg length and ground clearance are selected for sensitivity analysis and optimization. Also, the impacts from spring parameters variation to the ground clearance are analysed. Meanwhile, finite element analysis is conducted for key load bearing component to verify the structural strength and reliability.
The results indicate that the designed differential chassis meets the structural layout and motion requirements. Matching key parameters reasonably can effectively improve crossing performances. Essential component has good strength and structural reliability under pre-defined working conditions. This study could provide a reference for wheeled inspection robots differential chassis design.