A joint double-tracked robot with passive track adjusting device

摘要

This paper presents a joint mobile robot with double tracks, composed of two segments connected with a joint in mechanical structure. The robot can work like a four-tracked robot for moving on many terrains. Especially, due to the track adjusting device, the tracks can be ensured always tight pushing around wheels to keep the robot moving reliably. Therefore, the three control subsystems are introduced respectively, and the integrated control scheme is presented. The corresponding experiments of the three typical rough terrains are carried on in the real field, and the corresponding experiments' results demonstrate that the robot can perform with satisfactory on the rough terrains.