Journal of Mechanical Science and Technology

, Volume 32, Issue 11, pp 5389–5400 | Cite as

Mobile robot with passively articulated driving tracks for high terrainability and maneuverability on unstructured rough terrain: Design, analysis, and performance evaluation

  • Jihoon Kim
  • Jongwon Kim
  • Donghun LeeEmail author


This study presents a new mobile robot with passively articulated driving tracks for high terrainability (TA) and maneuverability (MA) on unstructured, rough terrain. The mobile robot consists of four driving tracks, two rocker links, and four pitch-roll two-degrees-offreedom (2-DOF) passive joints. For performance evaluation, the proposed mechanism was compared with several existing mechanisms, including four tracked mechanisms and three wheel linkage-type mechanisms. Dynamic simulations of reference posture tracking control on three different types of rough terrain using DAFUL confirmed that the incorporation of 2-DOF passive joints and a rocker DOF can contribute to the reduction of TA and MA. TA and MA are reduced by approximately 25.48 % and 44.51 %, respectively, compared with the seven existing locomotion mechanisms. The reasons for improved TA and MA are discussed in terms of three structural features of the proposed mechanism. Finally, the optimization design of the mechanism is constructed.


Dynamics simulation Maneuverability Mobile robot Passively articulated tracks Performance evaluation Rough terrain Terrainability 


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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Mechanical and Aerospace EngineeringSeoul National UniversitySeoulKorea
  2. 2.School of Mechanical EngineeringSoongsil UniversitySeoulKorea

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