Quaternion-Jointed Hybrid Traction Mobile Robot (QHTR)

The mining sector plays a crucial role in the Peruvian economy, as well as in many other countries around the world. However, it has historically been associated with catastrophic events that endanger the lives of miners. Additionally, many mines contain confined, hard-to-reach areas that pose significant risks during exploration. Therefore, finding solutions to address these challenges is essential. In that way, this paper presents the design, development and testing of a Quaternion-Jointed Hybrid Traction Robot (QHTR) which features a hybrid locomotion system by using a tracked and wheel module and a 2 DOF turning mechanism based on a quaternion joint, allowing for independent control of pitch and yaw. Experimental results demonstrate the robot’s ability to climb square-shaped obstacles up to 215 mm in height and traverse diverse terrains, including soil, grass, asphalt, and concrete. The robot’s turning radius and adaptability to different surfaces were also evaluated, showcasing its maneuverability in challenging environments.