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The basic track formed by a drive sprocket, idler, and road wheels works well in many applications, but there are simple things that can be done to modify this oblong shape to increase its mobility and robustness. Mobility can be increased by raising the front of the track, which aids in getting over taller obstacles. Robustness can be augmented by moving vulnerable components, like the drive sprocket, away from possibly harmful locations. These improvements can be applied to any track design, but are unnecessary on variable or reconfigurable tracks. The simplest way to increase negotiable obstacle height is to make the front wheel of the system larger. This method does not increase the complexity of the system at all, and in fact can simplify it by eliminating the need for support rollers along the return path of the track. This layout, when combined with locating the drive sprocket on the front axle, also raises up the drive system. This reduces the chance of damaging the drive sprocket and related parts. Many early tanks of WWI used this track shape. Another way to raise the ends of the track is to make them into ramps. Adding ramps can increase the number of road wheels and therefore the number of moving parts, but they can greatly increase mobility. Ramping the front is common and has obvious advantages, but ramping the back can aid mobility when running in tight spaces that require backing up over obstacles. As shown in Figure 5-5 (a d), ramps are created by raising the drive and/or idler sprocket higher than the road wheels. Some of these designs increase the volume inside the track system, but this volume can potentially be used by other components of the robot. More than one company has designed and built track systems that can change shape. These variable geometry track systems use a track that is more flexible than most, which allows it to bend around smaller sprockets and idler wheels, and to bend in both directions. The road wheels are
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Figure 5-5a d Various track shapes to improve mobility and robustness
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Figure 5-5b
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Figure 5-5c
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Figure 5-5d
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usually mounted directly to the chassis through some common suspension system, but the idler wheel is mounted on an arm that can move through an arc that changes the shape of the front ramp. A second tensioning idler must be incorporated into the track system to maintain tension for all positions of the main arm. This variability produces very good mobility when system height is included in the equation because the stowed height is relatively small compared to the negotiable obstacle height. The effectively longer track, in addition to a cg shifting mechanism, gives the vehicle the ability to cross wider crevasses. With simple implementations of this concept, the variable geometry track system is a good choice for a drive system for mobile robots. Figure 5-6 (a b) shows one layout for a variable geometry track system. Many others are possible.
Figure 5-6a b Variable track system
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Figure 5-6b
Since it carries both the tension in the track and the drive torque, the drive sprocket (and associated drive mechanism) is the most vulnerable moving part of a track system. They can be located at either the front or rear of the track, though they are usually in the rear to keep them away from the inevitable bumps the front of an autonomous vehicle takes. Raising the sprocket up off the ground removes the sprocket from possible damage when hitting something on the road surface. These modifications result in a common track shape, shown in Figure 5-5c. A simple method that extends the mobility of a tracked vehicle is to incorporate a ramp into the chassis or body of the vehicle. The static ramp extends in front and above the tracks and slides up obstacles that are taller than the track. This gives the vehicle the ability to negotiate obstacles that are taller than the mobility system using a non-moving part, a neat trick.
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