The purpose of this paper is to study the adaptability of the tracked robot in complex working environment. It proposes an angle-changeable tracked robot with human–robot interaction in unstructured environment. The study aims to present the mechanical structure and human–robot interaction control system of the tracked robot and analyze the static stability of the robot working in three terrains, i.e. rugged terrain, sloped terrain and stairs.,The paper presents the mechanical structure and human–robot interaction control system of the tracked robot. To prevent the detachment of the tracks during obstacle navigation, a new type of passively adaptive device based on the relationship between the track’s variable angle and the forces is presented. Then three types of rough terrain are chosen to analyze the static stability of the tracked robot, i.e. rugged terrain, sloped terrain and stairs.,This paper provides the design method of the tracked robot. Owing to its appropriate dimensions, good mass distribution and limited velocity, the tracked robot remains stable on the complex terrains. The experimental results verify the effectiveness of the design method.,The theoretical analysis of this paper provides basic reference for the structural design of tracked robots.

中文翻译：

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非结构化环境下人机交互的变角度履带机器人

本文旨在研究履带式机器人在复杂工作环境中的适应性。它提出了一种在非结构化环境中具有人机交互的可改变角度的履带机器人。研究旨在介绍履带式机器人的机械结构和人机交互控制系统，分析机器人在崎岖地形、斜坡地形和楼梯三种地形下工作的静态稳定性。 ——履带机器人的机器人交互控制系统。为防止障碍物导航过程中履带脱离，提出了一种基于履带变角与受力关系的新型被动自适应装置。然后选取三种崎岖地形对履带机器人的静态稳定性进行分析，即 崎岖的地形、倾斜的地形和楼梯。,本文提供了履带机器人的设计方法。由于其合适的尺寸、良好的质量分布和有限的速度，履带式机器人在复杂地形上保持稳定。实验结果验证了设计方法的有效性。,本文的理论分析为履带机器人的结构设计提供了基础参考。