Inchworm-Type Wheeled Mobile Robot Modeling and Simulation

Lei Zhang; Xiao Min Cheng; Hua Hu; Meng Chen

doi:10.4028/www.scientific.net/AMM.52-54.1051

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 52-54Inchworm-Type Wheeled Mobile Robot Modeling and...

Inchworm-Type Wheeled Mobile Robot Modeling and Simulation

Abstract:

Inchworm-type wheeled mobile robot is a non-comprehensive, all-driven system. This paper establishes a kinematical model for such system. Based on the kinematical model, the motion of the system is analytically studied, and the simulation of the motion for this system is conducted with the means of Pro/E. The system in the dynamic motion presented make the collision avoidance and path seeking easier. It also provides a motion mould for the simulation, and proves the theoretical analysis is right.

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Periodical:

Applied Mechanics and Materials (Volumes 52-54)

Pages:

1051-1056

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.52-54.1051

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Online since:

March 2011

Authors:

Lei Zhang, Xiao Min Cheng, Hua Hu, Meng Chen

Keywords:

Geometrid, Kinematics, Pro/E Simulation, Wheeled Mobile Robot (WMR)

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References

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