The Research on Obstacle-surmounting Capability of Six-track Robot with Four Swing Arms
Shaorong Xie, Shilong Bao, Bin Zou, Huayan Pu, Jun Luo, Jason Gu, Robotics and Biomimetics (ROBIO) IEEE International Conference, Shenzhen, 2013, pp 2441-2445.
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Abstract
For performing the best obstacle-surmounting capability, including Stairs-Climbing and channel-crossing, SHU-I’s, a six-track robot with four independent swing arms, obstacle-surmounting capability are analyzed according to the robot kinematics based on the obstacle-surmounting mechanism of the six-track robot with four swing arms. Its maximal obstacle-surmounting capability of Stairs-Climbing is mainly analyzed. Taking SHU-I crawler robot prototype as an example, three dimensional relationship diagrams of the step height, the elevation angle and arms’ swing angle are drawn. Also, the relationship between channel-crossing capability and structural parameters of the six-track robot are analyzed. We establish obstacle-surmounting mathematical model, also deduce the optimum obstacle-surmounting capability and corresponding obstacle gesture. Then, we use RecurDyn dynamics software to carry out simulation experiments to examine validity of obstacle-surmounting mathematical model. This paper would provide theoretical basis for six-track robots’ centroid position control in obstacle-surmounting process.
How Multibody Dynamics Simulation Technology is Used
RecurDyn is used to prove the obstacle-surmounting ability of a six-track robot. Simulations were run of both steps and channel crossing. RecurDyn simulations were consistent with theoretical results and provided a reliable testing mechanism without the need for a physical prototype.
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