Abstract
In order to improve the performance of robots in complex terrain, a crawler underactuated robot is proposed, which is mainly composed of car body module and track module. The link mechanism of the track module has a degree of freedom and is an underactuated mechanism. This paper introduces the obstacle course of the crawler module across the steps, establishes a mathematical model, analyzes its passability, optimizes the rod length parameters of the linkage mechanism, and performs simulation motion analysis on the optimized linkage mechanism. Experiments on the passability of the prototype verified the rationality of the design and structural parameters of the robot.
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