Simulation study on the obstacle-surmounting of the 4 swing arms - 6 tracked robot

Because the tracked robot has better performance, it has been used in complex conditions such as wilderness and ruins. The change of the center of gravity (CoG) of 4 swing arms-6 tracked robot(4SA-6TR) is directly related to the robot's obstacle performance. Robot's four swing arms are controlled by four motors, so robot can achieve various attitude changes. And robot's CoG is also changing when the robot's swing arms are swinging. But the CoG of the robot cannot be directly obtained through ADAMS simulation soft. The article presents a method of secondary development to obtain the center of gravity coordinates of the 4SA-6TR. The correctness of the secondary development is verified through the experiments of robot climbing up and down the steps. Relevant research results can provide theoretical basis for the operation and control of the robot.