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Obstacle Surmounting Principle Analysis and Structural Design for Two Degree of Freedom Tracked Robot

This paper mainly introduces a variable crawler robot based on the triangular configuration, and analyzes its obstacle mechanism. With the control variable method, it focuses on the obstacle mechanism of the crawler robot and the change of the center of gravity during the obstacle crossing process. In addition, the three-dimensional modeling of the overall structure of the crawler robot is also carried out, and the stiffness of the key mechanism is checked to verify the feasibility of the scheme design. It can provide some reference value for those who study the crawler robot.