Static stability analysis of a joint double-tracked robot

摘要

This paper presents a 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. Moving posture during robot stairs climbing is discussed, this is a typical case and is useful for designing the robot platform. Static stability analysis of the robot performance on rough terrains is complicated, due to the complexity of the terrains and posture of the robot itself. Therefore, three typical rough terrains are chosen to be analyzed in this paper, namely, the common rugged terrain, the slope terrain, and the stairs. The corresponding experiments' results demonstrate that the robot can perform with satisfactory on the rough terrains.