The research on obstacle-surmounting capability of six-track robot with four swing arms

For performing the best obstacle-surmounting capability, including Stairs-Climbing and channel-crossing, SHU-I's, a six-track robot with four independent swing arms, obstacle-surmounting capability are analyzed according to the robot kinematics based on the obstacle-surmounting mechanism of the six-track robot with four swing arms. Its maximal obstacle-surmounting capability of Stairs-Climbing is mainly analyzed. Taking SHU-I crawler robot prototype as an example, three dimensional relationship diagrams of the step height, the elevation angle and arms' swing angle are drawn. Also, the relationship between channel-crossing capability and structural parameters of the six-track robot are analyzed. We establish obstacle-surmounting mathematical model, also deduce the optimum obstacle-surmounting capability and corresponding obstacle gesture. Then, we use recurdyn dynamics software to carry out simulation experiments to examine validity of obstacle-surmounting mathematical model. This paper would provide theoretical basis for six-track robots' centroid position control in obstacle-surmounting process.