Mobile Platform of a Rocker-Type W-Shaped Track Robot

Yun Wang Li; Shi Rong Ge; Hua Zhu; Hai Feng Fang

doi:10.4028/www.scientific.net/KEM.419-420.609

Paper Titles

Stabilization Control of Nonholonomic Wheeled Mobile Service Robots
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Modeling of Flexspline and Contact Analyses of Harmonic Drive
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The Dynamics Analysis of the Robot Polishing System by the Multi-Agent System
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Configuration Design of a Novel Mobile Robot with 5^th Wheel
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Mobile Platform of a Rocker-Type W-Shaped Track Robot
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Design and Affect about Parameter to Capability Research on Driving Device of Puncturing Mud Robot
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Vibration Control of Nonholonomically Redundant Flexible Manipulators
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The Automatic Spraying in the Realization of Complicated Surface Coating
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Research on Moment Coupling and Compensation Control of Three-Axis Ship Motion Simulation Turntable
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HomeKey Engineering MaterialsKey Engineering Materials Vols. 419-420Mobile Platform of a Rocker-Type W-Shaped Track...

Mobile Platform of a Rocker-Type W-Shaped Track Robot

Abstract:

Based on the configurations of the track type travel mechanism, instead of wheels, the tracks were introduced into the rocker-type robot mobile system, and various configurations of the rocker-type track suspensions were obtained. Through analyzing characteristics of the suspensions, a rocker-type unsymmetrical W-shaped track mobile system was presented. The rear main tracks of the W-shaped tracks were longer than the front ones. The prototype’s obstacles-surmounting capabilities including ditch-crossing, step and stairs-climbing were analyzed. The prototype could climb up a 320mm-high step, climb down a 520mm-high step, cross a 490mm-wide ditch. The capabilities analysis and prototype test results indicated that the rocker-type unsymmetrical W-shaped track mobile platform had excellent passive adaptability to rugged unstructured terrain environments and strong obstacles-surmounting capabilities.