Kinematic performance analysis of a robot climbing steps without movable tracks on a swing arm

Abstract

A lightweight tracked robot with no moving swing arm is designed, which is mainly used in exploring narrow spaces. The mathematical model of the position of the robot’s center of mass with the elevation Angle of the vehicle body and the Angle between the swinging arm is established. The kinematics of the robot in different typical terrains, such as ramp, ditch, and step, is analyzed. By analyzing the critical state of the change of the position of the center of mass, the maximum Angle and width of climbing and crossing are calculated under ideal conditions. The maximum height of the robot is also calculated when using different ways to overcome obstacles, corresponding to the position attitude under the maximum climbing height. It provides a data theory basis for robot motion control strategy.