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A reconfigurable tracked mobile robot based on four-linkage mechanism

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Abstract

A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. This robot can implement multiple locomotion configurations by changing the track configuration, and the geometric theory analysis shows that the track length keeps constant during the process of track reconfiguration. Furthermore, a parameterized geometric model of the robot was established to analyze the kinematic performance of the robot while overcoming various obstacles. To investigate the feasibility and correctness of design theory and robot scheme, an example robot was designed to climb 45° slopes and 200 mm steps, and a group of design parameters of the robot were determined. Finally, A prototype of this robot was developed, and the test results show that the robot own powerful mobility and obstacle overcoming performance, for example, running across obstacle like mantis, extending to stride over entrenchment, standing up to elevate height, and going ahead after overturn.

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Authors and Affiliations

  1. School of Mechatronics and Automation, National University of Defense Technology, Changsha, 410073, China

    Zi-rong Luo  (罗自荣), Jian-zhong Shang  (尚建忠) & Zhi-xiong Zhang  (张志雄)

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  1. Zi-rong Luo  (罗自荣)
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  2. Jian-zhong Shang  (尚建忠)
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  3. Zhi-xiong Zhang  (张志雄)
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Additional information

Foundation item: Project(2007AA04Z256) supported by the National High Technology Research and Development Program of China

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Luo, Zr., Shang, Jz. & Zhang, Zx. A reconfigurable tracked mobile robot based on four-linkage mechanism. J. Cent. South Univ. 20, 62–70 (2013). https://doi.org/10.1007/s11771-013-1460-8

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  • DOI: https://doi.org/10.1007/s11771-013-1460-8

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