RSSR Mechanism Design and Motion Control Strategy of a Carbon-Free Vehicle for Obstacle Avoidance Competition

Abstract

With the popularity of carbon-free vehicle obstacle avoidance races, the requirements for the accuracy and reliability of vehicle motion control are getting higher and higher. Aiming at the problems of trajectory deviation and debugging difficulties of the carbon-free vehicle during the movement process, the Revolute-Slider-Slider-Revolute (RSSR) mechanism is adopted as the steering device, which is aimed at improving the motion control precision and obstacle avoidance ability of the vehicle. Firstly, from the kinematics point of view, a kinematics model based on the spatial four-link mechanism is established, and the influence of each parameter change on the trajectory of the vehicle is analyzed. On this basis, the influence of each key parameter on the motion process is further explored through practical debugging, so as to derive a general law of the vehicle’s motion under the drive of the RSSR mechanism. Through numerical simulation analysis, the accuracy of the theoretical model is verified, and the structural design of the vehicle is optimized accordingly. The actual debugging results show that the vehicle can realize smooth operation, which fully proves the practicality and effectiveness of the established mathematical model and the research of the RSSR mechanism.

Keywords

• kinematic model
• obstacle avoidance control
• structural optimization
• RSSR mechanism