Research on Dynamics and Stability in the Stairs-climbing of a Tracked Mobile Robot
نویسندگان
چکیده
Aiming at the functional requirement of climbing up the stairs, the dynamics and stability during a tracked mobile robot’s climbing of stairs is studied. First, from the analysis of its cross‐country performance, the mechanical structure of the tracked mobile robot is designed and the hardware composition of its control system is given. Second, based on the analysis to its stairs‐climbing process, the dynamical model of stairs‐climbing is established by using the classical mechanics method. Next, the stability conditions for its stairs‐climbing are determined and an evaluation method of its stairs‐climbing stability is proposed, based on a mechanics analysis on the robot’s backwards tumbling during the stairs‐climbing process. Through simulation and experiments, the effectiveness of the dynamical model and the stability evaluation method of the tracked mobile robot in stairs‐climbing is verified, which can provide design and analysis foundations for the tracked mobile robots’ stairs‐climbing.
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