The design and obstacle-overcoming analysis of multiphase connecting- rod wheeled robot

This article is mainly aimed at the solving the problem of singularity phenomenon which exists in the connecting-rod wheeled robot. We propose a multiphase connecting-rod wheeled robot based on multiphase connecting-rod structure and analyze the design principle and obstacle-overcoming ability of the robot. By conducting experiments, we proved that the robot can resolve the singularity phenomenon which appears in the connecting-rod wheeled robot and its obstacle-overcoming performance and movement stability is well. We expect the robot can be applied to the exploration and rescue environments.