Paper Title:
Modeling and Simulation of a Six-Leg-Wheel Hybrid Mobile Robot Based on ADAMS
  Abstract

The dynamic modeling of a six-leg-wheel hybrid mobile robot was built using ADAMS software in this paper. Using the ADAMS model, the kinematic simulation, including the displacement, velocity and acceleration of each part of the robot, can be carried out and the dynamic simulation, including driving torque of joints, contact force and torque between the wheels with ground and the ability of obstacle negotiation, can also be achieved. The simulation examples were presented. The simulation analyses provide the theory basis for the design of the robot control system based on dynamics.

  Info
Periodical
Edited by
Zhenyu Du and Bin Liu
Pages
194-197
DOI
10.4028/www.scientific.net/AMM.26-28.194
Citation
Y. J. Li, Z. W. Wu, "Modeling and Simulation of a Six-Leg-Wheel Hybrid Mobile Robot Based on ADAMS", Applied Mechanics and Materials, Vols. 26-28, pp. 194-197, 2010
Online since
June 2010
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