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.

[1]  Jo Yung Wong,et al.  Theory of ground vehicles , 1978 .

[2]  C. R. Weisbin,et al.  Miniature robots for space and military missions , 1998 .

[3]  Toshio Takayama,et al.  Development of "Souryu I & II" -Connected Crawler Vehicle for Inspection of Narrow and Winding Space , 2003, J. Robotics Mechatronics.

[4]  Sungchul Kang,et al.  Rough Terrain Negotiable Mobile Platform with Passively Adaptive Double-Tracks and Its Application to Rescue Missions , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[5]  T. Takayama,et al.  Development of Souryu-I connected crawler vehicle for inspection of narrow and winding space , 2000, 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies.

[6]  Wyatt S. Newman,et al.  Stabilization of a mobile robot climbing stairs , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[7]  Stergios I. Roumeliotis,et al.  Multi-sensor, high speed autonomous stair climbing , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Xin Jian-guo.  PERFORMANCE ANALYSIS OF TRACK-LEG MOBILE ROBOT IN UNSTRUCTURED ENVIRONMENT , 2004 .