The invention discloses an under-actuated tracked mobile obstacle crossing platform. A traditional tracked mobile robot generally functions in a fully-actuated obstacle crossing mode, the motion mode or the pose change of the traditional tracked mobile robot depends on the information fed back by sensors to a large extent, the requirement on the accuracy of the sensors is relatively high, and a large number of motors and sensors are adopted and a control algorithm is relatively complex, thereby resulting in hysteresis. The under-actuated tracked mobile obstacle crossing platform comprises a body assembly, support assemblies, a front swing arm assembly, a rear swing arm assembly, a synchronous belt assembly and a track; two support assemblies are symmetrically arranged on the two sides of the body assembly; the two ends of each support assembly are hinged to the front swing arm assembly and the rear swing arm assembly, respectively; the front swing arm assembly drives the rear swing arm assembly to swing synchronously by use of the synchronous belt assembly; besides, the front swing arm assembly is connected with the rear swing arm assembly by use of the track. The under-actuated tracked mobile obstacle crossing platform functions in an under-actuated obstacle crossing mode, and therefore, the dependency on a control system is reduced, the cost is reduced and the stability and the reliability of the mobile obstacle crossing platform are improved.
Under-actuated tracked mobile obstacle crossing platform
2015-04-01
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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