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The electric-tracked intelligent detection device is extensively used in engineering exploration and construction. However, in unstructured and complex terrains, its stability is challenged by a high center of gravity and poor road conditions, making the enhancement of its stability analysis crucial. This study is based on tracked vehicle models, constructing kinematic and dynamic equations for the device, and developing virtual and physical prototypes. Combining theoretical analysis, virtual simulations, and physical testing, the study analyzes motion parameters under typical conditions through numerical calculations and simulations. It examines the device's dynamic characteristics during rapid turns in unstructured terrains. The research identifies variations in motion parameters, determines dynamic stability thresholds, and refines stability analysis methods applicable to the device, establishing evaluation criteria with multiple parameters and weight vectors. In conclusion, the developed models and prototypes help us understand the electric-tracked intelligent detection device's dynamic characteristics and instability thresholds, enhancing its stability and operational efficiency and providing a theoretical foundation for related engineering machinery development. [ABSTRACT FROM AUTHOR]

The electric-tracked intelligent detection device is extensively used in engineering exploration and construction. However, in unstructured and complex terrains, its stability is challenged by a high center of gravity and poor road conditions, making the enhancement of its stability analysis crucial. This study is based on tracked vehicle models, constructing kinematic and dynamic equations for the device, and developing virtual and physical prototypes. Combining theoretical analysis, virtual simulations, and physical testing, the study analyzes motion parameters under typical conditions through numerical calculations and simulations. It examines the device’s dynamic characteristics during rapid turns in unstructured terrains. The research identifies variations in motion parameters, determines dynamic stability thresholds, and refines stability analysis methods applicable to the device, establishing evaluation criteria with multiple parameters and weight vectors. In conclusion, the developed models and prototypes help us understand the electric-tracked intelligent detection device’s dynamic characteristics and instability thresholds, enhancing its stability and operational efficiency and providing a theoretical foundation for related engineering machinery development.

After the occurrence of natural disasters or accidents， robots are often needed to go deeply into the disaster site to find out the situation or provide assistance. The structure of wheel-legged planetary probe robot is successfully applied by reference， for the special unstructured terrain of the post-disaster site， a new search and rescue robot with five wheels and four swinging arms is designed for the special unstructured terrain in the disaster site. Through the parameter design and statics analysis of the key components， the rationality of static feature is verified， and the mathematically modeling of process of obstacle crossing is carried out， the factors that affect the height of the robot obstacle surmounting are obtained. Then the virtual prototype simulation is carried out to verify the rationality of the dynamic characteristics and the correctness of the mathematical modeling. Finally， an experimental platform is built to verify the obstacle surmounting ability of the designed robot， which provides a theoretical basis for the design of similar wheeled robots in the future and has a certain reference significance.

In this paper, a crawler-type wall-climbing robot with negative pressure adsorption is designed. The dynamic model of the robot is established based on the method of discretizing the force load of the track shoe. The correctness of the kinematic model and dynamic model is proved by comparing two different ways of virtual prototype simulation and prototype experiment. According to the simulation results of the dynamic model and virtual prototype, the influence of design parameters on the motion performance of the wall-climbing robot is analyzed. The smaller the speed difference between the two tracks of the robot, the longer the gauge between the two tracks, and the greater the inclination of the adsorption wall, the larger the turning radius of the robot will be. The research content based on this paper can provide a new design optimization method and theoretical basis for improving crawler wall-climbing robots and crawler vehicles. [ABSTRACT FROM AUTHOR]

• Failure mechanism of track travelling unit of hydraulic excavator. • Whole excavator experiments were carried out. • Non-linear finite element analysis of the supporting wheel was carried out. • Determine the two working conditions and load values of the supporting wheel with the highest force through the simulation results. • A test rig was set up to analyse the failure of the strut wheel sealing assembly. In order to explore the specific reasons for the oil leakage of the supporting wheel, and to determine the specific location of the oil leakage of the supporting wheel, this paper carries out the excavator machine test and the finite element simulation analysis of the supporting wheel assembly, and designs and manufactures the supporting wheel test bench. It was found that the lubricant was leaking from the gap between the supporting wheel body and the axle seat. Through further tests, it was finally determined that the floating seal rubber ring had undergone plastic deformation during the working process of the supporting wheel, resulting in oil leakage from the supporting wheel. The results of the study also emphasized the importance of temperature on the seal failure of the support wheel. An improvement programme for the seal failure of the support wheel was also proposed. [ABSTRACT FROM AUTHOR]