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《Journal of Mechanical Transmission》 2014-01
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Analysis of Three Crawler Robot Obstacle Climbing

Liang Xiaobo;Jiang Gang;Lv Guogang;Xiao Zhifeng;School of Manufacturing Science and Engineering,Southwest University of Science and Technology;  
A robot of three-section crawler structure is designed,the main movement of the robot and the movement of the swing arm are synchronized through the sleeve shaft structure.It is conducive for robot functions to achieve.To analysis the obstacle performance of robot,the typical obstacles of the ladder,ramp and channel are selected to analysis the movement mechanism of the robot and obstacle climbing ability,and the movement mechanism of the robot and climbing obstacle capability to climb the ladder is studied.Using the three crawler search-and-rescue robot as prototype,the relationship between robot elevation,arm swing angle and obstacle clearance height is analyzed.And using MATLAB simulation to get step height function and the corresponding curves,at the same time the theoretical value of maximum obstacle height is obtained,which is compared with the measured data.The best obstacle performance of the robot and the position of corresponding centroid and swing arm are deduced,a theoretical basis for the control when robot obstacle is provided.
【CateGory Index】: TP242
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