关键词: 关节式履带机器人;爬楼梯;接触作用;动态稳定性

Abstract: Dynamic stability problem for articulated-tracked robot climbing stairs, when articulated-tracked robot contacts with stair steps in one point, two or more points, an identification method of dynamic stability criterion is proposed. Through the analysis of the robot to climb stairs obstacle process, action plan of the robot, inertia force of the center of mass, moment of inertia of driving wheels and arm wheels and influence of the tracked edge contacting the stairs are considered, obstacle dynamic equation of the critical attitude is built. Based on necessary and sufficient conditions of non slippage on the robot climbing the stairs, combined with the relationship of the ratio of equivalent traction force and equivalent support force with the static friction coefficient of track and stairs in the robot coordinate system, dynamic stability criterions of the robot contacting stair steps in one point, two and three points are obtained in the process of climbing stairs. The results indicate that the robot contacts stair steps in two and three points with an unstable state easily in the process of climbing stairs, numerical simulation results demonstrate the effectiveness of the method, a theoretical basis for the dynamic stability judgment of articulated-tracked robot is provided.

Key words: articulated-tracked robot;climbing stairs;contact action;dynamic stability