Determining the stability conditions of the track-driven vehicle while stair climbing and descending

Abstract

This article presents the method of determining the stability limit of the vehicle (robots or electric wheelchairs) that use tracks (chain, belt) for climbing and descending stairs. Research method was conducted by modeling vehicle which is working under the influence of some elements such as geometric,  mass, velocity, acceleration, friction...Afterthat, we identify  some  conditions which lead to tipping. Finally, the results of research are constraint equations in order to ensure stable operation of vehicle.