Dynamic Model of All-Wheel-Drive Mobile Robot Climbing over Obstacles and Analysis on Its Influential Factors

A dynamic model of the extreme states of all-wheel-drive robot climbing over obstacles is established according to its basic structure.The torque distribution between different driving wheels and the influential factors of gravity allocation are included in the model.Based on this model,the minimum driving capability and the gravity allocation condition can be determined to meet the climbing requirements of the all-wheel-drive robot.