Dynamic Load Effect on Tracked Robot Obstacle Performance

A portable tracked robot with arms is introduced in this paper. A 3-DOF arm mounted on top of the robot is used to hold the sensor system, and the motions of robot´s swing arms improve its obstacle performance. At first, the stability analysis of obstacle performance based on robot´s CG position is discussed from crossing ditch and climbing obstacle. And then dynamic load (3-DOF arm) effect on the track robot obstacle performance is discussed in detail. The dynamic models of three critical poses of crossing ditch and climbing obstacle are made. From these models, the relationships between inertia forces and obstacle performance are obtained, which are validated by experiments. The results help to design and control the robot.