Obstacle Performance Analysis of Four-track Robot with Compliant Swing Arms

Abstract

It is difficult to control the swing arms to assist the four-track robot with active swing arms to cross the obstacles.By simplifying the control and enhancing the self-adaptive ability,a compliant swing arm institution was designed for the robot's structure using a flexible joint.The obstacle performance of the four-track robot with compliant swing arms was analyzed theoretically.The kinematic characteristics of the robot were simulated using an ADAMS.The results show that when the lower swing angle φ1=-1.09 rad,the robot could climb the ultimate obstacle height(170.93 mm),which is higher than that using the four-track robot with active swing arms.The compliant swing arm structure was feasible,which provides a basis for the research of four-track robots with compliant swing arms.