Design and Stability Analysis of a Wheel-Track Robot

Abstract

The wheel-track robot is a new type of mobile robot combining a wheel and a track in a single component, which can quickly switch between in wheel mode and track mode. The wheel-track mobile robot system is proposed in this paper, comprising two operation modes, including wheel motion and track motion. And the dynamic stability analysis is a strong basis on structure design of the robot. As well as the two modes of the robot turning experiments contrast. The result shows that theoretical analysis and the robot's design are reasonable. The robot mechanism is simple and compact, and it has a good practical value and application prospect.