可移动关节与重心的履带机器人，大幅增强越障能力
A Reconfigurable Tracked Robot for Enhanced Obstacle Traversal Through Movable Articulation Point and Internal Mass Relocation
- 通过可调关节位置和内部配重移动，实现越障灵活性提升
- 能跨越自身长度74%的台阶、66%的悬平台、59%的沟壑
- 适合复杂地形探测与救援任务，工程应用价值高
履带机器人广泛应用于非结构化环境，但其越障能力受限于前部可达性与运动稳定性之间的权衡。本文提出可重构履带机器人TRASER（带可动脊柱的履带机器人），可通过移动关节点和内部质量分布来增强越障性能。该机器人采用带状弹簧机构，将柔性集中在弯曲区域，保持其余部分高刚度，从而提升前端可达性与质心（CoM）调节能力。建立了几何与静力学模型，分析关节位置与质心对越台阶、越沟壑性能的影响。实验表明，其在台阶、悬平台和沟壑上的越障能力分别达到自身长度的74%、66%和59%。据我们所知，这是目前已报道履带机器人中最高的越障性能。
原文摘要 · Abstract (English)
Tracked robots are widely used in unstructured environments; however, their obstacle traversal capability is fundamentally limited by a tradeoff between front-end reachability and locomotion stability. This study presents TRASER (Tracked Robot with Articulated Spine for Extended Reach), a reconfigurable tracked robot capable of relocating both its articulation point and internal mass. TRASER employs a tape-spring mechanism that localizes compliance to the bending region while maintaining high stiffness in the remaining body, thereby improving both front-end reachability and center-of-mass (CoM) shifting capability. Geometric and static models are developed to analyze the effects of articulation point and CoM position on step and ditch traversal performances. Experiments demonstrate step traversal, suspended-platform traversal, and ditch traversal of 74\%, 66\%, and 59\% of the robot body length, respectively. To the best of our knowledge, these results represent the highest reported obstacle traversal capabilities among tracked mobile robots.
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