Design and subsumed terrain analysis of wheel-tracked mobile robot

摘要

Aimed at the requests of field environments, a wheel-tracked mobile robot has been designed.The robot has symmetrical structure, two tracks, four wheel, a sport mode adjustment device and a main body. It can move quickly by wheels or traverse complex terrain by tracks, and overcome obstacles by wheels and tracks together.The structure and working principle of the motion mode adjustment device, the key part of the robot,were studied. The motion characteristics and subsumed terrains of the robot when traversing through steps, heaves, entrenchments,inclined plane and staircases, were researched.The built prototype possesses the traits of simple structure, high mobility and good environmental adaptability.