Obstacle-surmounting capability analysis of a joint double-tracked robot

This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. As the angle between the two segments of the robot platform can be changed, the robot can work like a four-tracked robot for moving on many terrains. Change rule of the centroid position in obstacle-surmounting process is analyzed. Moving posture during step climbing are discussed, this is a typical case and is useful for designing the robot platform. The theoretical value of maximal obstacle-surmounting capability of the robot platform is obtained and compares with the test result. The effect of centroid position on obstacle-surmounting capability is obtained, which provides theoretical basis for centroid position control in obstacle-surmounting process. As a whole, reasonable mechanical structure and the good obstacle-surmounting capability of the joint double-tracked robot are tested by experiments.