Design of An Articulated-tracked Mobile Robot with Two Swing Arms

Abstract

In order to meet the needs of field investigation, this paper designs a joint swing arm tracked robot with embedded driving system. Through the structural design and motion calculation of the swing arm robot, the transmission device is installed in the crawler; the obstacle-surmounting ability of the swing arm robot is analyzed by using the simplified mathematical model; finally, the force simulation analysis of the key axis is carried out to ensure the correctness of the design. The designed swing arm robot reduces the volume to a certain extent, increases the flexibility, improves the portability, and is easy to achieve field operations.