Dynamic Modeling and Analysis of Miniature Ground-moving Robot Based on Special Moving Pose

A six-track ground-moving robot is studied to develop a miniature ground robot applied to special rough environment, such as running in the cross-country race, climbing stairway and obstacle, pushing-up by itself and turning a somersault. The ground mini-robot' s collective design plan is discussed from the locomotion function and the technical target, such as system structure, driving principle and system design. The robot' s moving pose is described in the paper. The dynamic modeling of three special poses of climbing stairway and obstacle, pushing-up by itself and turning a somersault is made. The relationship model of force and driving and the condition of critical states are obtained. The results help to design the miniature ground-moving robot,which can run successfully in a complicated environment and develop its adaptability.