Mechanism principle and obstacle-crossing analysis of robot with automatic-strained track and variable main arm configuration

摘要

A robot with variable main arm configuration and automatic-strained track was studied.Aiming at the problem of track straining,a better effect of track straining was obtained using the ellipse forming principle and ensuring the shape variable of track was 0 mm.Through introducing the swinging-wheel,the variation of configuration was enriched and the obstacle-crossing capability of robot was improved.The movement mechanism of robot platform carrying out tasks of navigating stairs,climbing slopes and crossing trenches was analyzed.A kinematic model was built,and the maximum obstacle-crossing capability in corresponding environment was generated.The results show that the experimental result of robot obstacle-crossing capability is consistent with that of theoretical calculation,and the robot has good obstacle-crossing capability.