Abstract
This paper presents a novel obstacle-surmounting robot with eight big wheels, which is designed for searching and rescuing tasks in cities. Four passive planetary swing wheel structures, each of which is composed of two wheels and a planetary structure, are installed into four corners of the vehicle symmetrically. The planet carrier performs as a swing arm to adjust the relative angle of the vehicle' chassis and ground automatically and passively. Consequently, the necessary actuators for the vehicle are reduced to four. For enhancing the stability and adaptability against complex uneven terrain, analysis and simulation experiments have been done to optimize dimensions of the vehicle, where the diameter of the wheel and the central distance of the neighbor planetary sets are modified to 460 mm and 560 mm in the end. Finally, experimental results demonstrate excellent stability and adaptability of the vehicle, and the vehicle is easy to control without any additional operations.
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