Structure Design of Four-part Wheel-track Underground Compound Detecting Robot and Obstacle Crossing Analysis

We designed a four-part wheel-track compound obstacle crossing robot. Firstly, we designed the overall structure of the robot with the forelimbs driven by wheel and the rear wings driven by structural track, which realized forward and inverse crossing through the combination of the wheel and track. Secondly, we carried out reasonable simplifications of the design of the structure as well as obstacle crossing analysis. Then the maximum obstacle crossing height was concluded through the analysis of the feasibility as well as the maximum height of obstacle crossing by centroid. Finally, by using experimental apparatus, the crossing experiment was implemented with the result of the robot smoothly achieving the setted obstacle crossing height, which verified the validity of the obstacle crossing performance of the four-part wheel-truck robot.