Professional Documents
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EM330
陳明辰
Rocker-type W-shaped
Track Robot
China university of Mining and
Technology
Mechanical and Electrical
Engineering
LI Yun-wang, GE Shi-rong,
ZHU Hua, FANG Hai-feng
Keywords
• rocker-type track robot
• suspension configurations
• W-shaped track suspension
• obstacles-surmounting
• good passive adaptability to rough
unstructured terrain environments
• strong obstacles-surmounting
capabilities
• applied to the planet surface
exploration rovers successfully
• This type of mobile system is suitable
for the natural undulating terrain,
but it is difficult to overcome the
artificial structured terrain, such as
steps, successive stairs and
ditches.
• If the barrier was blocked between
two landing legs of the rocker
suspension, the robot could not
move.
•
• The ditches width which the robot
could cross was restricted by the
diameter of the wheels.
•
• The performance of stair-climbing was
not well.
• Mechanism R0 was the schematic
diagram of a typical rocker-type
suspension which was used in the
mobile platform
•
•
• The mechanisms R1 and R2 not only
retained the good adaptability of
mechanism R0 to adapt to the
uneven terrain, but also avoided the
situation that the landing legs in
mechanism R0 would be blocked by
obstacles, and improved the
obstacles-surmounting capabilities,
such as steps-climbing and ditches-
crossing. Especially the mechanism
R2 could be variable to conquer
multiform obstacles, if the angle
could be changed, but it required
more power and complex structure.
• The mechanisms R3 and R4 would be
the fixed W type tracks, if the angle
was a constant.Each W-shaped track
suspension only required one DC
motor to drive the tracks and could be
implemented easily. The mechanisms
R3 and R4 had good performance of
the regular landform
climbing. The mechanism R3 and R4