Study on the Change Law of Centroid for Six-track Rescue Robot with Four Swinging Arms

The centroid change equation, which is about six-track rescue robot with four swinging arms for mine emergency rescue, is solved by center of mass theory, the relationship between the centroid and angle of swing arms is derived. The graphs of the robot's centroid and the chart of the angle of the swing arms are drawn by calculation and Adams simulation, the results are agreement with each other. The rationality of the formula inference and the correctness of secondary development of Adams are verified. Then the plot of centroid changes is drown when rescue robot acrosses three steps, which provides the theoretical basis for the future study for controlling of robot's posture and the judgment of its stability when it crosses barriers.