Design and Ground Performance Evaluation of a Multi-Joint Wheel-Track Composite Mobile Robot for Enhanced Terrain Adaptability

The tracked-wheeled mobile robot has gained significant attention in military, agricultural, construction, and other fields due to its exceptional mobility and off-road capabilities. Therefore, it is an ideal choice for reconnaissance and exploration tasks. In this study, we proposed a multi-jointed...

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Bibliographic Details
Published in:Applied sciences 2023-06, Vol.13 (12), p.7270
Main Authors: Gao, Xin’an, Guan, Xiaorong, Yang, Yanlong, Zhang, Jingmin
Format: Article
Language:English
Subjects:
Adaptability
Adaptation
Analysis
Barriers
Climbing
Design
Efficiency
Gait
Kinematics
Locomotion
Performance evaluation
R&D
Reliability
Research & development
Robot dynamics
Robotics industry
Robots
Simulation models
Slope stability
Space missions
stability
Stability analysis
Static stability
Terrain
terrestrial performance
Trenches
wheel-tracked composite mobile robot
Wheels
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Summary:The tracked-wheeled mobile robot has gained significant attention in military, agricultural, construction, and other fields due to its exceptional mobility and off-road capabilities. Therefore, it is an ideal choice for reconnaissance and exploration tasks. In this study, we proposed a multi-jointed tracked-wheeled compound mobile robot that can overcome various terrains and obstacles. Based on the characteristics of multi-jointed robots, we designed two locomotion modes for the robot to climb stairs and established the kinematics/dynamics equations for its land movement. We evaluated the robot’s stability during slope climbing, its static stability during stair climbing, and its ability to cross trenches. Based on our evaluation results, we determined the key conditions for the robot to overcome obstacles, the maximum height it can climb stairs, and the maximum width it can cross trenches. Additionally, we developed a simulation model to verify the robot’s performance in different terrains and the reliability of its stair-climbing gait. The simulation results demonstrate that our multi-jointed tracked-wheeled compound mobile robot exhibits excellent reliability and adaptability in complex terrain, indicating broad application prospects in various fields and space missions.
ISSN:2076-3417
2076-3417
DOI:10.3390/app13127270