A mobile robot platform with double angle-changeable tracks

This paper presents a different structured mobile robot platform (MRP) with double tracks, which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed, the robot can travel over steep obstacles and climb up stairs. Two track-adjusting devices with passive track-adapting function are designed especially, which ensure that the tracks are always tight to keep the robot platform running reliably. In addition, a design idea for the track wheels is presented. The wheel could be favorable for the robot running smoothly in many kinds of terrains without the tracks coming apart from their wheels. Furthermore, the robot platform has other characteristics such as compact architecture and large useful inner space for arranging the control system and vibration absorption system. Experiments proved that the MRP can run flexibly and reliably in indoor and outdoor environments, and be suitable as a mobile carrier for executing search, rescue, detection and scout missions.