| Shuai Liguo (帅立国),Fei Yanqiong,Zheng Liyuan,Gong Pengwei.[J].高技术通讯(英文),2016,22(1):10~15 |
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| Analysis on the crossing obstacle of wheel-track hybrid mobile robot |
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| DOI：10.3772/j.issn.1006-6748.2016.01.002 |
| 中文关键词: |
| 英文关键词: wheel-track hybrid robot, moving mechanism, obstacle performance |
| 基金项目: |
| Author Name | Affiliation | | Shuai Liguo (帅立国) | | | Fei Yanqiong | | | Zheng Liyuan | | | Gong Pengwei | |
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| 中文摘要: |
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| 英文摘要: |
| 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. According to a homogeneous coordinate transformation matrix, gravity stability and its obstacle performance are analyzed. Its gravity equation and climbing obstacle conditions are established. Experimental 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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