Four track mobile robot for non structured environments

Concerns a mobile robot to work in hostile environments, for civil protection or handling of nuclear material, having four tracks that may pivot around the driving axles. All tracks have a driving function, but they are moved only by two motors, one at each side, that allows to simplify the actuation and control system. For this reason, it has been necessary to use a differential gear for driving each couple of tracks on each side. Clutches, brakes, and tilting of tracks are discussed. The robot weighs over 10000 N, and its drive motors each have a power of 1000 W. Its maximum speed is about 0.3 m/s. Steering is by running tracks at different speeds. The frame is meant to bear a payload of 3000 N.<>