Modeling, simulation, and experiments of a flexible track robot over rigid horizontal and inclined surfaces

This paper studies the locomotion of a robot fitted with flexible rubber tracks while driving and climbing over rigid horizontal and inclined surfaces. We developed a model that accounts for sliding during rotation and the distribution of the normal forces along the track. On horizontal surfaces, we found that the size of the robot (width and length) and the normal force distribution along the track had a substantial influence on its turning speed and radius, whereas the coefficient of friction (COF), the robot's mass and inertia had a much lesser influence. The model shows that on inclined surfaces, even on relatively small slopes, the robot substantially slides downwards as it tries to rotate. The results of the model and the simulations were validated using a tracked vehicle that was built and tested on a solar panel. The experimental results of the turning radius and rotational speed were within 2% of the model (see video).