Homayoun Rastan, Eric Lanteigne, and Atef E.F. Fahim
Tracked robot, modelling, dynamic simulation
This paper presents the dynamic model and analysis of a fixed geometry tracked robot while traversing stairs. The motor torque and angular acceleration of the centre of mass of the robot are examined during three critical stages in the stair ascent and three critical stages in the stair descent. The dynamic model demonstrates that the dynamic stability is directly related to the robot’s structure, the grouser geometry, and the location of its centre of mass. The results of the numerical simulations quantify the high angular accelerations experienced at the onset of the descent. The results also illustrate that the motor torque peaks as the robot crosses the second step in the ascent of the stairs.
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