Study on ability of a mobile tracked robot for stair-climbing based on static analysis

In this paper, we consider the accurate ability and the exact limitation of Mobile Tracked Robot (MTR) for stair-climbing. A model of a stair-climbing robot is presented under static analysis, and then several separated situation during the process of robot climbing is extracted and analyzed respectively. The numerical formula of steady climbing a stair for MTR is developed. An effective stability index of climbing stair is derived to restrict the overrun of the threshold and to prevent the tip-over with over slippage while climbing. The experiment demonstrates the trustworthy and correction of the conclusion in the paper.