Abstract
A reconfigurable tracked mobile robot (RTMBot) is presented in this paper based on a parallel four-bar mechanism. Firstly the structure of the robot is introduced. After that a centroid configuration model is proposed to analyze the trench-crossing capability of the robot and plan the locomotion configurations for crossing trenches. Then a virtual robot prototype has been constructed to analyze and simulate the performance of trench-crossing. Finally, a prototype of the reconfigurable tracked mobile robot has been produced, and experiments have been performed to verify the design concept and its embodiment. The results show that RTMBot can reconfigure itself to cross trenches. © 2010 Springer-Verlag.
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CITATION STYLE
Mo, H., Jianzhong, S., Zirong, L., & Zhuo, W. (2010). Trench-crossing capability analysis of a reconfigurable tracked mobile robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 6424 LNAI, pp. 509–518). https://doi.org/10.1007/978-3-642-16584-9_49
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