Multimode obstacle-crossing analysis of a wheel/track mobile robot

Abstract

A transformable wheel-track robot with the tail rod whose winding will coordinate the center of gravity of the robot is studied. First, from the analysis of its crossing obstacle performance, the mechanical structure of the wheel-track robot is designed and the hardware composition of its control system is given. Second, aiming at the functional requirement of climbing up the obstacle, the different track modes including forward climbing procedure and backward climbing procedure during a wheel-track robot's climbing obstacle are studied. Next, based on the analysis to its climbing process, the robot model of climbing obstacle is established by using the classical mechanics method. Through experiments, the effectiveness of the robot model in climbing obstacle is verified, which can provide design and analysis foundations for the mobile robots.