Physical Modeling of the Tread Robot and Simulated on Even and Uneven Surface

  • Rashmi Arora
  • Rajmeet SinghEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 941)


Over the years, the researchers have done a lot to developed different surface mobile robot such as wheel, walking and clawing robots. A new method of modeling and simulation of robot based on SimMechanics is proposed in this paper. The proposed robot consist of sets of wheel with belt. Due to use of belt the robot have capability of the high gripping with surface. The proposed model of the robot with ground contact model is used for maneuvering on even and uneven surface. The surface with bumps is considered as uneven surface for the simulation purpose. The simulation results for even and uneven surface are compared for tread robot. The simulation result shows the performances of the proposed model of the robot.


Tread robots SimMechanics Even Uneven surface Simulation 


  1. 1.
    Cecccarelli, M., Ottaviano, E.: Kinematic design of manipulators (2004).
  2. 2.
    Narendra, K., Gopichand, A., Gopala, M., Gopi Krishna, B.: Design and development of adjustable stair climbing robot. Int. J. Res. Eng. Technol. 2, 232–267 (2013)CrossRefGoogle Scholar
  3. 3.
    Figliolini, G., Ceccarelli, M.: Climbing stairs with EP-WAR2 biped robot. In: IEEE International Conference on Robotics and Automation, Seoul, Korea (2001)Google Scholar
  4. 4.
    Shiatsu, T., Lawn, M.: Modeling of a stair-climbing wheelchair mechanism with high single-step capability. IEEE Trans. Neural Syst. Rehabil. Eng. 11, 323–332 (2003)CrossRefGoogle Scholar
  5. 5.
    Wang, M., Tu, Y.: Design and implementation of a stair-climbing robot. In: IEEE Workshop on Advanced Robotics and its Social Impacts, Taipei, Taiwan (2008)Google Scholar
  6. 6.
    Wang, J., Sun, A., Zheng, C., Wang, J.: Research on a new crawler type inspection robot for power transmission lines. In: 1st International Conference on Applied Robotics for the Power Industry, Montreal, QC, Canada (2010)Google Scholar
  7. 7.
    Jeyabalaji, C., Vimalkhanna, V., Avinashilingam, N., Zeeshan, M., Harish, K.: Design of low cost stair climbing robot using Arduino. Int. J. Eng. Res. Appl. 4, 15–18 (2014)Google Scholar
  8. 8.
    Singh, P., Ananthasuresh, G.K.: A compact and compliant pipe-crawling robot. IEEE Trans. Robot. 29, 251–260 (2013)CrossRefGoogle Scholar
  9. 9.
    Jung, G., Casarez, C.S., Jung, S.P., Fearing, R.S., Cho, K.: An integrated jumping-crawling robot using height adjustable jumping module. In: International Conference on Robotics and Automation, ICRA, Stockholm, Sweden (2016)Google Scholar
  10. 10.
    Liu, J., Wang, S., Li, B.: Analysis of stairs-climbing ability for a tracked reconfigurable modular robot. In: IEEE International Workshop on Safety, Security and Rescue Robotics, Kobe, Japan, pp. 36–41 (2005)Google Scholar
  11. 11.
    Brynedal, N., Rasmusson, N., Matsson, J.: An overview of legged and wheel robotic locomotion. In: 12th International Conference on Advancement of Robotics and its Mechanism, California, USA, pp. 23–34 (2012)Google Scholar
  12. 12.
    Yoneda, K., Ota, Y., Hirose, S.: Stair climbing robots and high-grip crawler. In: Scorpus Robotics and Terminology for Stair Climbing, Tokyo, Japan, pp. 74–96 (2002)Google Scholar
  13. 13.
    Nakamura, T., Iwanaga, T.: Locomotion strategy for a peristaltic crawling robot in a 2-dimensional space. In: IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, pp. 25–29 (2008)Google Scholar
  14. 14.
    Udai, A.D., Rajeevlochana, C.G., Saha, S.K.: Dynamic simulation of a KUKA KR5 industrial robot using MATLAB SimMechanics. In: 15th National Conference on Machines and Mechanisms, pp. 1–8. IIT Kanpur, India (2015)Google Scholar
  15. 15.
    Kubela, T., Pochyly, A., Singule, V.: Advanced tools for multi-body simulation and design of control structures applied in robotic system development. In: Solid State Phenomena, vol. 164, pp. 387–391 (2010)Google Scholar
  16. 16.
    Mariappan, S.M., Veerabathiran, A.: Modelling and simulation of multi spindle drilling redundant SCARA robot using SolidWorks and MATLAB/SimMechanics. Revista Facultad De Ingenieria, Universidad de Antioquia 81, 63–72 (2016)CrossRefGoogle Scholar
  17. 17.
    Yuan, S., Liu, Z., Li, X.: Modeling and simulation of robot based on Matlab/SimMechanics. In: 27th Chinese Control Conference, Kunming, China, pp. 8–12 (2008)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Chandigarh UniversityGharuan, MohaliIndia
  2. 2.Baba Banda Singh Bahadur Engineering CollegeFatehgarh SahibIndia

Personalised recommendations