Design and Simulation of Intelligent Mobile Chassis for Industrial Aquaculture

In order to meet the needs of intelligent mobile chassis to accurately and flexibly complete various tasks in the dark, damp, narrow and rugged environment conditions of industrial aquaculture workshops, a pendulum suspension four-wheel two-drive differential mobile chassis structure based on Lidar was designed, and based on this structure, an autonomous navigation system was designed. In situ differential zero radius turning as well as shock absorption features smart moving chassis. In this paper, the overall mechanical structure and control system design scheme of intelligent mobile chassis are introduced in detail, and the key technical parameters are analyzed in detail combined with the actual environmental conditions of the factory aquaculture workshop. At the same time, a kinematic model of intelligent moving chassis was established, and ADAMS was used to simulate the centroid displacement and the change law of the angular velocity of the driving wheel in the process of linear and in-situ steering of the moving chassis under no-load and full-load conditions, so as to analyze the stability and bearing capacity of the intelligent moving chassis. The simulation results show that the intelligent moving chassis runs straight at the maximum speed of 0.8m/s under no-load and load conditions, the centroid displacement curve does not change, and the angular velocity of the driving wheel fluctuates at about 420°. When turning in place, the centroid displacement curve of X axis and Z axis fluctuates within 0.05m, and the centroid angular velocity is maintained at about 95°. The intelligent moving chassis can run straight and turn in place without being affected by load.