This paper presents a conceptual design for variable configurations articulated tracked vehicle (LMA) [1] that has active adaptability to suit for rough and unpredictable terrains, including stairways, obstacles and ditches. The active terrain adaptability is performed by a track configuration-controlling mechanism which is a simple 3-bar cam mechanism consisting of 2 moving elements and a cam fixedly mounted on the vehicle's chassis. The mechanism has three functions: (1) ensuring the center of a planetary wheel mounted on the end of the track configuration-controlling mechanism to move along an exactly elliptic path; (2) providing the tracks with a continuously invariable spring force to tension tracks; and (3) changing and adjusting the center of gravity of the robot system to prevent it turning over from stairs.
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