Mechanism parametric design of a deformable tracke mobile robot

In this paper, a novel deformable tracked mobile robot with parallelogram structure is presented, which has three locomotion modes: tracked mode, legged mode and wheeled mode. Especially through taking into consideration of the legged mode and stability in surmounting steps, the optimal mechanism geometric parameters of this robot is obtained in the process of movement by means of geometrical analysis to keep the CG position lower. Experiment results sufficiently verify that mechanism parametric design increases its stability in legged movement and obstacle crossing ability.