Dynamic Analysis of the Wheel-Legged Mobile Robot

Ping Peng; Xiao Jun Zhang; Guang Ming Yuan; Zhe Liu

doi:10.4028/www.scientific.net/AMM.344.174

Paper Titles

Control Scheme of a Brushless Doubly Fed Induction Machine for Stand-Alone Generator Systems
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Study of Active Disturbance Rejection Control in Aero-Engine
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Chaos Synchronization of Two Light-Emitting Diode Systems with Complex Dynamics via Adaptive Neural Control
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Dynamic Analysis of the Wheel-Legged Mobile Robot
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Active Control Technology of Engine during the Upshifting
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 344Dynamic Analysis of the Wheel-Legged Mobile Robot

Dynamic Analysis of the Wheel-Legged Mobile Robot

Abstract:

The design of the wheel-legged mobile robot is mainly used for the early toxic gas leakage warning and disaster relief in the field of wild environment. The robot needs to cross some obstacles such as ditch and step when carrying out a task. The paper analyzes the strategies of robot passing the all kinds of obstacles. Considering the influence of disturbance by uneven road surface, the dynamic model of robot crossing the step and groove on the uneven road surface is built based on the robots structural features. While the control model of front wheel-leg is also presented based on the robot dynamic model. The results of simulation expriments demonstrate the correctness of the built dynamic model and laid the foundation for the design of the robot control system.

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Periodical:

Applied Mechanics and Materials (Volume 344)

Pages:

174-181

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.344.174

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Online since:

July 2013

Authors:

Ping Peng, Xiao Jun Zhang, Guang Ming Yuan, Zhe Liu

Keywords:

Dynamic Analysis, MATLAB, Obstacle Crossing, Wheel-Legged Mobile Robot

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