Steps and Stairs-Climbing Capability Analysis of Six-Tracks Robot with Four Swing Arms

In order to investigate the maximum stairs-climbing capability of the six-track robot with four swing arms and the centroid position control in the climbing process, firstly, the isolated steps and successive stairs in reality environments were simplified into a model that composed of horizontal planes and vertical planes; afterward, the robots centroid distribution was analyzed, the step-climbing methods and processes were given, and the relation equations of the step height, the arms swing angles and the main track evaluation angle were founded; Lastly, the conditions of the maximum step height and the conditions of climbing successive stairs using the slope-climbing method was deduced. Using the parameters of CUMT-III type coal mine exploring robot prototype, the relation curves of the step height and the robot elevation angle was drawn when the rear swing arms spread, and the 3D relation graphs of the robot elevation angle, rear arms swing angles and the step height were drawn, when the swing arms took some specific swing angles. The maximum theoretical step height of the prototype were obtained, which were compared with the test results in laboratory. This paper will provide theoretical basis for centroid position control in steps and stairs climbing process.