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.


    Access

    Download


    Export, share and cite



    Title :

    Under-actuated tracked mobile obstacle crossing platform


    Contributors:
    HU MING (author) / WANG LIZHE (author) / ZHANG PENG (author) / QIAN PING (author) / QIN YUDONG (author)

    Publication date :

    2015-04-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Obstacle crossing device, tracked vehicle and obstacle crossing method

    YUN XIANFENG / LI SHUAI / ZHU YIN | European Patent Office | 2020

    Free access

    Under-actuated tracked robot moving platform

    LIU BINGQING / WAN YUAN | European Patent Office | 2015

    Free access

    Planetary differential obstacle-crossing type tracked robot

    WANG LIZHE / HU MING / MA SHANHONG et al. | European Patent Office | 2015

    Free access

    Indoor obstacle crossing mobile robot chassis and obstacle crossing method

    BAI MINGLIANG / HOU YUNQIANG / LI HONGSHENG | European Patent Office | 2023

    Free access

    Large-torque four-wheel-drive transmission system of intelligent obstacle crossing tracked robot

    WU CHUNMIN / HOU XIN / LIAO PENG et al. | European Patent Office | 2024

    Free access