Abstract
In consideration of the risks faced by soldiers during anti-terrorism tasks, a compact anti-terrorism robot has been designed. This robot effectively combines detection and attack capabilities while maintaining a weight limit of 12kg. This paper provides a detailed description of the robot’s structural design and its obstacle-crossing action plan for climbing steps. From a kinematic perspective, it analyzes the relationship between the tracked robot’s structural dimensions and the height of steps. By utilizing Matlab, relationship diagrams are generated to determine the maximum step-climbing height by the tracked robot. Furthermore, Recurdyn software is employed to simulate obstacle crossings performed by this crawler robot in order to validate theoretical analysis through obtaining torque curves during movement. The results demonstrate that both structural dimensions and center-of-mass positioning significantly impact obstacle-crossing performance.
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