A Novel Wheel-Leg-Track Complex Mobile Mechanism and Its Stability Analysis
ZHAO Hai-feng1,2, LI Xiao-fan1, YAO Chen1, WANG Zhong1
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
赵海峰, 李小凡, 姚辰, 王忠. 新型轮—腿—履带复合移动机构及稳定性分析[J]. 机器人, 2006, 28(6): 576-581..
ZHAO Hai-feng, LI Xiao-fan, YAO Chen, WANG Zhong. A Novel Wheel-Leg-Track Complex Mobile Mechanism and Its Stability Analysis. ROBOT, 2006, 28(6): 576-581..
Abstract：To enhance adaptability of the Explosives Ordnance Disposal(EOD) robot to unstructured environment,a novel wheel-track-leg complex mobile machine is put forward,which has good mobility and steering performance.It is demonstrated by analyzing the robot mechanism and its stability that the structure design is feasible and has good stability.
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