Abstract
A novel passively-actively transformable mobile robot that can traverse an unstructured terrain is proposed. The robot's locomotion system can actively adjust its posture in accordance with complex terrain conditions by using a novel adjustable side frame when stability and traction should be enhanced. The proposed robot can passively adapt to different terrain conditions with a balance-rocker mechanism to ensure that all four wheels can make contact with the ground. This robot can also level its body and change its ground clearance. The principles and configurations of the two mechanisms are presented. A mathematical model for an effective design and control of the locomotion system is presented, describing the kinematics of the robot in active and passive modes composed of position and posture. The robot's forward and inverse solutions are obtained. This model is validated through a multi-body simulation. The kinematic model presented here provides a theoretical reference for posture control, design, and performance analysis. The proposed mobile robot has a vast potential for diverse applications that include rough-terrain planetary explorations, rescue operations, and disaster mitigation.
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