Development of a variable parallelogram tracked mobile robot

Based on the characteristics of wheeled, tracked and legged movements, a variable parallelogram tracked mobile robot(VPTMR) is proposed and developed to enhance its adaptability and stability in the complex environment. This VPTMR robot consists of two variable parallelogram structures, which are composed of one main tracked arm, two lower tracked arms and a chasis. The variable parallelogram structure is actuated by a DC motor. And another DC motor actuates the track rotation, which enables VPTMR robot to move in wheeled, tracked and legged mode that makes the robot to adapt to all rugged environments. The prototype(VPTMR) is developed to verify its performance on environmental adaptability, obstacle crossing ability and stability.