摘要：A wheel/track mobile robot with a one-way tail rod is studied. First, from the analysis of its performance, the mechanical structure of the wheel/track mobile robot is designed and the hardware composition of its control system is given. Second, based on the analysis of its variable structure movement process, the variable structure model of wheel/track mobile robot is established using the geometry analysis method. Third, two kinds of analysis are proposed. One is analysis of the wheel movement on flat ground. Another is track obstacle-crossing kinematics of the robot, in which the conditions for its stairs-climbing are determined. Then, the dynamical model of stairs-climbing is established either in wheel mode or in track mode using the classical mechanics analysis on the robot during the stairs-climbing process. Through simulation and experiments, the effectiveness of the model and the evaluation method of the wheel/track mobile robot in stairs-climbing are verified, which can provide design and analysis foundations for the wheel/track mobile robot.
关键词：Mobile robot; wheel–track; system design; obstacle-climbing; simulation
