Stability analysis of double pendulum arms transformable track robot

WANG Zhenhua, MENG Guangyao, HUANG Juxin, GUO Bin, SUN Hongjie

(School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao 266520, China)

Abstract: Aiming at the problem that the tracknondeformable robot has poor obstacle performance, the optimal obstaclesurmounting performance of the double pendulum arms transformable track robot and the stable state of robot during the obstacle crossing process were studied. Two representative obstacle types were selected. The mathematical model was established, and the centroid distribution and moment of inertia distribution of the robot were taken as considerations. The overturning stability and slip stability of the climbing ramp, the static stability stepwise and dynamic stability of the climbing step were studied. Numerical analysis was carried out to verify the validity and accuracy of the results, and the necessary and sufficient conditions for the robot to be in a stable state were obtained. The critical conditions of the robot overcoming obstacles and the maximum values that can be climbed were obtained. The results indicate that the double pendulum arms transformable track robot has good terrain adaptability and obstacleobstacle ability, high task completion and execution efficiency, and stable robot state in the process of obstacles.