Study on Stability and Adaptive Control of Articulated Track Nuclear Emergency Robot

To address the challenge of obstacle-surmounting stability for robots in the complex terrain of nuclear accident sites, a design scheme for an articulated tracked nuclear emergency robot is proposed. By establishing a theoretical model and conducting dynamic simulations, the obstacle-surmounting performance of the robot was systematically studied under four typical working conditions: steps, slopes, trenches, and stairs. The results indicate that the theoretical calculation values have good consistency with the simulation experimental data, verifying the accuracy of the dynamic model. Further stability analysis reveals that optimizing the system’s center of mass position plays a crucial role in improving the robot’s obstacle-surmounting stability in complex terrain environments. Additionally, the multi-drive cooperative control strategy based on current identification has proven its effectiveness through co-simulation.This study provides theoretical support and an engineering application solution forthe autonomous obstacle-surmounting of nuclear emergency robots in unstructured terrain.