Research on the overturning phenomenon of firefighting and rescue crawler robots when climbing up and down stairs

In many cases, firefighting and rescue crawler robots often encounter the phenomenon of overturning when climbing stairs, especially in the initial stages of climbing or descending stairs. To overcome this phenomenon, the robot is designed to be able to change its center of gravity during movement by moving the battery assembly along the longitudinal axis of the robot chassis. The article has developed a differential equation for the robot's plane motion in the initial stages of going up and down the stairs. The influence of parameters such as robot speed, robot front tilt angle, stair tilt angle and battery assembly acceleration on the robot's overturning motion is investigated. The test results evaluate the reliability of the theoretical model.