Abstract
A kind of crawler-type robot with variable structure based on four-bar linkage was designed to solve the obstacle clearance problem. Firstly, the design scheme of the variable structure tracked robot was proposed, and the virtual prototype was designed. Then the mathematical model between the deformation of the four-bar linkage and the total length of the track was established. the numerical analysis shows that the total length of the track is 0.91% in the deformation process, which is smaller than the elongation of the general rubber track. The feasibility of the scheme was verified theoretically. Finally, a physical prototype experiments were carried out and experiments show that the variable structure crawler could achieve good obstacle performance through deformation.
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