Motion Planning and Performance Analysis of a Novel Six-Tracked Robot

Abstract

In response to the complex terrain structure in the field and the lack of passability of traditional wheeled and tracked robots, this paper proposes and designs a six-tracked robot that can adapt to complex terrain environments by adjusting the track rotation angle through six independently driven foot-track mechanisms to achieve multiple posture changes. The center of mass plays a key role in the process of obstacle surmounting, by establishing a centroid kinematics model based on robot kinematics and the center of mass coordinate formula, the influence of the cantilever motion on the center of mass is analyzed, the change of the center of mass during the obstacle surmounting process is obtained, and based on this model carries out motion planning and obstacle surmounting performance analysis. Finally, the six-tracked robot obstacle surmounting simulation experiment and prototype experiment are carried out to verify the feasibility and rationality of the six-tracked robot’s obstacle surmounting ability and autonomous obstacle surmounting motion planning.