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Trench-Crossing Capability Analysis of a Reconfigurable Tracked Mobile Robot

Trench-Crossing Capability Analysis of a Reconfigurable Tracked Mobile Robot,10.1007/978-3-642-16584-9_49,Mo Hei,Jianzhong Shang,Zirong Luo,Zhuo Wang

Trench-Crossing Capability Analysis of a Reconfigurable Tracked Mobile Robot  
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A reconfigurable tracked mobile robot (RTMBot) is presented in this paper based on a parallel four-bar mechanism. Firstly the structure of the robot is introduced. After that a centroid configuration model is proposed to analyze the trench-crossing capability of the robot and plan the locomotion configurations for crossing trenches. Then a virtual robot prototype has been constructed to analyze and simulate the performance of trench-crossing. Finally, a prototype of the reconfigurable tracked mobile robot has been produced, and experiments have been performed to verify the design concept and its embodiment. The results show that RTMBot can reconfigure itself to cross trenches.
Published in 2010.
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