Analysis on the crossing obstacle of wheel-track hybrid mobile robot |
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| Institution: | 1. Research Institute of Robotics, Shanghai Jiaotong University, Shanghai, 200240, P.R.China;2. Henan Institute of Science and Technology, Xinxiang 453003, P.R.China |
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| Abstract: | A novel wheel-track hybrid mobile robot with many movement patterns is designed.According to different environments,it can switch between the pure wheel pattern and the pure track one.Ac-cording to a homogeneous coordinate transformation matrix, gravity stability and its obstacle perform-ance are analyzed.Its gravity equation and climbing obstacle conditions are established.Experimen-tal results show that this hybrid mobile robot could fully possess the advantages of both the wheel and the track mechanisms and achieve a good obstacle climbing capability. |
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| Keywords: | wheel-track hybrid robot moving mechanism obstacle performance |
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