Terramechanics Modeling and Grouser Optimization for Multistage Adaptive Lateral Deformation Tracked Robot

A multistage adaptive lateral deformation tracked robot was designed to improve the passing ability of field robots. The designed robot can change its width under the combined action of space barrier constraint and internal stored elastic potential energy. The lateral sliding friction affected by grouser parameters during lateral deformation is a key factor that determines whether or not the robot can achieve deformation. This study focuses on the track terramechanics and grouser parameter optimization. On the basis of the theory of terramechanics, the interaction of the flexible track lateral movement with the ground model and traction model was established. Taking the requirement of traction as the constraint condition and the minimum lateral sliding resistance as the optimization objective, we used the multitarget optimization algorithm (NSGA-II) to optimize and analyze the grouser parameters. Then, the optimal combination of grouser parameters was obtained. Simulation analysis was carried out on RecurDyn software to complete the simulation verification of the lateral force and traction force under different grouser parameters. The correctness of the theoretical model and the optimization of the grouser parameters was verified through prototype experiments.