THROO: a Tracked Hybrid Rover to Overpass Obstacles |
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Authors: | Erika Ottaviano Pierluigi Rea Gianni Castelli |
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Affiliation: | DiCEM: Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, via Di Biasio 43, Cassino 03043, Italy |
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Abstract: | In this paper, the design, simulation and experimental tests are presented for THROO: a Tracked Hybrid Rover, which has been developed to Overpass Obstacles. The proposed mobile robot has 3-DOFs and it is capable of straight motion, turning ability and two operations, namely rover-like motion with tracks on flat terrain and walking-like motion with track and legs to overpass obstacles to move on uneven terrain. The leg mechanism is composed of a four-bar linkage, which has been synthesized according to the desired features. In particular, the Burmester problem, which aims at finding the geometric parameters of a four-bar linkage required for a prescribed set of finitely separated poses are solved for the case understudy. Dynamic simulations have been carried out and a prototype has been built. The proposed results show the hybrid rover ability to overpass obstacles, for which size is comparable or greater than the track high. |
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Keywords: | mobile robots hybrid robots kinematic synthesis simulation experimental tests |
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