Transmission optimization design of mini-multi-module crawler robot

In this paper, for inspecting in the cable tunnel, we propose a Mini-Multi-Module Crawler Robot (MMCR) with four sides covered with tracks. MMCR can walk, turn and avoid obstacles after rollover. MMCR has two ways to overcome obstacles: lifting the front of the mobile section obstacle and direct obstacle crossing. For overcoming obstacles flexibly, the joints of MMCR are passive when the robot crosses the barrier directly. Crawlers are on all four sides and passive pulley axis adopt an innovative arrangement, which increases the robot's direct obstacle clearance height. The tandem four stage bevel gear drive the four driving pulleys respectively. Finally, finite element analysis of the main parts of the robot joint determines the strength of the part is sufficient.