Problem
Increase obstacle-crossing ability without adding perception complexity or active deformation control.
SYSTEM 001 / 2024
Adaptive Tracked Robot
Linkage intelligence before computation
A four-module tracked platform that passively adapts its geometry to obstacles through a single-DOF multi-loop six-bar mechanism.
Physical prototype
Co-first author · Mechanism design and analysis · CAD
SolidWorks · Mechanism synthesis · Kinematics · Rapid prototyping
Method
Constrain a planar six-bar linkage into a single-DOF multi-loop module, then arrange four underactuated modules around a mobile body.
Result
Validated forward, reverse, deformable-track, rocker-arm, uphill and downhill motion modes with a physical prototype.
Evidence, not decoration.
Project media is presented as engineering evidence: motion, geometry, interfaces and prototype behaviour.
NEXT SYSTEM / 002