| Summary: | Taking the double-track crawler robot as study object,the robot system composition and the action planning,stability analysis and obstacle clearance performance calculation of the climbing stair are introduced in detail. The DSP system TMS320LF2407 is used as the motion control core,and two MAXON motors are used to control the left and right tracks to realize the differential steering. The system can realize the real-time response of the robot to the user instruction and the scene environment through the voice and image acquisition system. Based on the centroid kinematics and optimization theory,the relationship between the maximum obstacle clearance height of the robot and the elevation angle of the front swing arm and the step height under the critical condition of the robot stability are obtained. The experimental results of climbing stairs show the correctness of the theoretical analysis,and some theoretical basis for the design of this type of crawler robot is provided.
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