Rough terrain robot with 4 turn-over track frames-a feasibility study on the mechanism

摘要

Mobile mechanisms with tracks have been studied over the years, with the aim of using them in rough terrain environments. In 1992, the authors proposed a non-interference infinitely-turning 4-crawler mechanism. In this paper, the feasibility study results with a full-scale motorized model are announced. Field tests verify its powerful mobile functions such as climbing and descending high earth banks, and escaping from becoming stuck in muddy ground.