The Obstacle-Surmounting Process Simulation of Arm-Swing Wheeled Robot Based on MATLAB
Considering complex environment of disaster site, an Arm-swing Wheeled Robot (AWR) with auxiliary obstacle-surmounting mechanism was developed. The obstacle-surmounting process is simplified into three stages, and the mathematic model of kinematic for each stage has been established. The simulation for each stage of obstacle-surmounting has been carried out in MATLAB. The stability of obstacle-surmounting is analyzed and the trend of resistance moment is obtained. Finally, the effectiveness of simulation analysis is verified by comparing with the test results of physical prototype.
Jianmin Zeng, Zhengyi Jiang, Taosen Li, Daoguo Yang and Yun-Hae Kim
L. Gong et al., "The Obstacle-Surmounting Process Simulation of Arm-Swing Wheeled Robot Based on MATLAB", Advanced Materials Research, Vols. 199-200, pp. 1244-1248, 2011