Study on Dynamic Stability of a Tracked Robot Climbing over an Obstacle or Descending Stairs

Tracked mobile robot is popular used in hazardous environments, such as explosives disposal, or removal of dangers. Usually, they work in a complex environments and need to cross over different obstacles to reach destination. In this status, the stability and security is very important.

In this paper, the dynamic stability of a tracked robot crossing obstacle and up/down stairs is analyzed. The factors of influencing the robot stability is obtained by establishing kinematics and dynamics equations. Two parameters, the maximum angular velocity and the additional front rake, are suggested to be used to describing the status of the robot on stairs . According the results of analysis, the angular velocity is larger, the additional front rake is larger too, resulting in a rather lager impulse between the robot and the stairs, and even falling down the stairs.

The Condition Monitoring of On-Load Tap Changers is very important because they have proved to be the elements with noticeable failures in a power transformer. This article describes the development of a portable virtual instrument for monitoring this kind of elements. The monitoring task is based in the measurement and analysis of the vibrations that a tap change produces. In contrast with other methods that can be used, this one has the advantage of being able to do continuous monitoring because the transformer can be operated on line.