A robot of three-section crawler structure is designed

the main movement of the robot and the movement of the swing arm are synchronized through the sleeve shaft structure.It is conducive for robot functions to achieve.To analysis the obstacle performance of robot

the typical obstacles of the ladder

ramp and channel are selected to analysis the movement mechanism of the robot and obstacle climbing ability

and the movement mechanism of the robot and climbing obstacle capability to climb the ladder is studied.Using the three crawler search-and-rescue robot as prototype

the relationship between robot elevation

arm swing angle and obstacle clearance height is analyzed.And using MATLAB simulation to get step height function and the corresponding curves

at the same time the theoretical value of maximum obstacle height is obtained

which is compared with the measured data.The best obstacle performance of the robot and the position of corresponding centroid and swing arm are deduced

a theoretical basis for the control when robot obstacle is provided.