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<p>The conventional tracked robot has poor obstacle crossing ability and stability when facing special terrain in north China especially in Xinjiang large scale sheep farm, and the practical application effect in winter cold climate is not considered. This paper designs a swing arm deformable tracked robot. Solves the centroid coordinates and the swing arm position, analyzes the robot obstacle crossing ability in sheep farm special terrain. Based on the stability cone theory, judges the robot obstacle crossing stability. Simulates the cold climate condition, sets the smooth surface dynamic and static frictional coefficient of steps, slopes and gullies model, carries out obstacle crossing and stability simulations. Develops the robot and swing arm demonstrated experiment in sheep farm with height about 15&#xa0;cm step, tilt about 25° slope and depth about 15&#xa0;cm gully under − 25 °C cold winter outdoor environment. Verifies that the robot can dynamically form multiple support points through the collaborative control of the four swing arms and the main track as well as the collaboration between the swing arms, ensuring the balance and stability of obstacle crossing in cold climate.</p>

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Obstacle crossing stability research of the swing arm deformable tracked robot in large scale sheep farm and cold climate

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年4月4日

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  • Feng Bai,
  • Haifeng Yuan,
  • Za Kan,
  • Minglu Zhang,
  • Xiaojun Zhang

摘要

The conventional tracked robot has poor obstacle crossing ability and stability when facing special terrain in north China especially in Xinjiang large scale sheep farm, and the practical application effect in winter cold climate is not considered. This paper designs a swing arm deformable tracked robot. Solves the centroid coordinates and the swing arm position, analyzes the robot obstacle crossing ability in sheep farm special terrain. Based on the stability cone theory, judges the robot obstacle crossing stability. Simulates the cold climate condition, sets the smooth surface dynamic and static frictional coefficient of steps, slopes and gullies model, carries out obstacle crossing and stability simulations. Develops the robot and swing arm demonstrated experiment in sheep farm with height about 15 cm step, tilt about 25° slope and depth about 15 cm gully under − 25 °C cold winter outdoor environment. Verifies that the robot can dynamically form multiple support points through the collaborative control of the four swing arms and the main track as well as the collaboration between the swing arms, ensuring the balance and stability of obstacle crossing in cold climate.