Kinematics analysis for obstacle-surmounting capability of a joint double-tracked robot

A double-tracked robot is designed from mechanical and control perspectives, 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 move like a four-tracked robot on many terrains. The center of gravity (CG) kinematics model is established, which plays an important role in the process of traveling over obstacles and climbing up stairs. Using this model, the CG change situation and the maximal height of the climbable obstacle are obtained. Then the relationship between the robot pitch angle and the height of the obstacle is established. Finally, a reasonable system structure for the robot is designed and its kinematics analysis for obstacle-surmounting capability is conducted through experiments.