Design and analysis of a multi-mode mobile robot based on Schatz linkages

Abstract In this paper, a novel multi-mode mobile robot based on the Schatz linkage is proposed. The robot consists of four Schatz linkages, which are distributed at the four corners of the robot. According to the kinematics of the Schatz linkage, the center of mass (CM) of the robot is compensated by designing the profile curve of the touchdown link to reduce the influence of the CM fluctuation on the moving stability of the robot, and the profile curve of the touchdown link makes the robot possess three locomotion modes, including the wheel-like rolling mode, the arm-like climbing mode and the snake-like crawling mode. The performance of the robot on three typical terrains, including the stair, the slope and the ice land, is discussed. In the end, a prototype is fabricated, and the experiment has verified that the robot possesses enough maneuverability to traverse rough terrains in its three locomotion modes.