Simulation analysis of passive adaptive robot's tip-over stability

Abstract

In the complex unstructured road, mobile robots' ability to resist overturning is crucial. In this paper, a tracked mobile robot with passive deformation is developed based on the request of unstructured environment to the robots' movement. The robot can improve stability and the ability to resist overturning by the deformation of passive adaptive mechanisms. A comprehensive judge was made on the tilting of the robot by a standard method of Normalized Dynamic Energy Stability Margin and stability index. The dynamic stability of the robot with road disturbance and inertia force was analyzed and simulated. Theoretical analysis and simulation research offer a reference for the application and design of the robot's control system.