Design and Performance Verification of a Wheel-Track Transformable Mobile Platform Based on a Four-Bar Mechanism for Rescue Scenarios

Abstract

Contemporary disaster rescue operations face challenges due to complex and hazardous terrains. Existing rescue robots with single locomotion mechanisms (wheeled, legged, tracked) and some hybrid ones have limitations in adaptability, efficiency, or structure. To meet the dual demands of complex terrains and limited space, this paper proposes a wheel-track transformable mobile platform based on a four- bar mechanism, which adopts a modular structure. A servo motor drives the active link to adjust the spatial position of the movable link (equipped with movable wheels), enabling smooth switching between wheeled and tracked modes. Key link lengths are determined via kinematic analysis, and a two-stage gear transmission system is designed. Adams simulation verification shows the platform completes wheel-track mode conversion on flat ground without component interference and can lift the center of gravity (CG) to surmount obstacles during slope climbing. The platform's feasibility is verified, providing a technical reference for designing highly adaptable rescue robots suitable for small spaces and complex terrains in post-earthquake or post-disaster scenarios.