Design and Kinematic Analysis of Anti-terrorism Robot With Wheel-tracked Variable Structure

To solve the problems of the wheel-tracked compound robot used in anti-terrorism such as the wheel and track being separately designed,less compact structure,a new design scheme of anti-terrorism robot based on wheel-tracked variable structure is presented in this paper.Wheeled mobile and tacked mobile can be turned into each other,which makes its mechanism reconfigurable,less volume,more compact structure.It can't only move fast by wheel,but also navigate obstacles by track.RecurDyn is used to simulate the obstacle based on the kinematic analysis of the robot,so the climbing obstacle performance of the robot is verified,which also provides theoretical bases for the function expansion and prod of the robot.