A Study on Stair-climbing Performance of Articulated-tracked Mobile Robot

摘要

The stair-climbing ability is one of important obstacle negotiation performances of robot.By analyzing aspects of the change of center of mass during stair-climbing,and stability of motion,this paper presents a series of kinematics simulation experiments of stair-climbing motion to optimize parameters.The simulation can also help to improve the feasibility of the design and the stability of motion.