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《Machine Design & Research》 2009-06
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Analysis on the Performance of Obstacle Surmounting for Deformabal Tracked Robot With Four Links

ZHAO Xi-qing,SHANG Jian-zhong,LUO Zi-rong,XIE Hui-xiang(School of Mechatronics Engineering and Automation,National University of Defense Technology,Changsha410073,China)  
A miniature tracked structure,based on four links mechanism is presented.The gravity center of robot could be transferred by the deformation of tracks,which is propitious to surmount the obstacle.The performance of surmounting vertical obstacle is analyzed via numerical computition.The kinematic simulation of robot's virtual prototype is completed by using RecurDyn.The results of simulation and test on prototype indicate that the robot has preferable capability of surmounting vertical obstacle.
【CateGory Index】: TP242
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