Small sized ground mobile robot with surmounting obstacle function

摘要

Aimed at the motion requirements on mobile robots under dangerous environment,the overall design of robotic system was studied.A kind of small sized compound wheel caterpillar typed ground mobile robot has been put forward,and the mechanism design and its realization were expounded.The surmounting obstacle features of this robot while passing through obstacles of a flight of steps,oblique plane,and staircases etc.were analyzed.The first prototype being developed possesses the characteristics of simplicity structure,small volume,and less weight.By means of experiment it is verified that this robot moves dexterously and quickly and possesses good environmental adaptability and surmounting obstacle ability.