提出了一种采用对称布置的双曲柄滑块机构改变履带外形的越障机器人。该机构能够通过曲柄的转动对履带的外形和张紧力进行主动控制,以使履带的形状更好的与障碍物相适应,从而提高机器人的越障能力。对该机器人的结构和原理进行了阐述,并对其越障原理和越障能力进行了分析,为变形履带机器人的设计提供了新的思路。 A crossover robot with double crank slider mechanism symmetrically arranged to change track shape was proposed. The mechanism can take the initiative to control the track shape and tension through the rotation of the crank so that the shape of the track can be better adapted to the obstacle so as to improve the robot’s obstacle clearance capability. The structure and principle of this robot are expounded, and the principle of obstacle obstacle and obstacle obstacle is analyzed, which provides a new idea for the design of deformation crawler robot.