Structural design and motion characteristics analysis of dual-mode active swing arm tracked robot

Focusing on the demand for complex terrain traversal capability of mobile robots, this paper presents a mobile and creep dual-mode tracked robot configuration with capability of autonomous extrication, in response to solving the problem of tracked robots trapped due to insufficient obstacle-crossing capability. Based on the geometrical characteristics of parallelogram and its dynamic computation on the ground, a topological configuration of mobile tracked mechanism with the ability of creep is studied. An integrated structural design method of mobile chassis that integrates the swing arm and the tracked mechanism is proposed and a dual-mode active swing arm tracked robot structural model is established. The mobile and creep characteristics of the dual-mode active swing arm tracked robot are revealed through comparative simulations in multiple working conditions; Through the prototype tests in such typical working conditions as climbing, turning and obstacle-crossing, the feasibility of creep for the robot is verified and it is proved that the obstacle-crossing ability can be effectively improved. The research results provide theoretical support for improving the adaptability and possibility of mobile robots in complex terrain.