The Obstacle-Surmounting Process Simulation of Arm-Swing Wheeled Robot Based on MATLAB

Abstract:

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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.

Info:

Periodical:

Advanced Materials Research (Volumes 199-200)

Edited by:

Jianmin Zeng, Zhengyi Jiang, Taosen Li, Daoguo Yang and Yun-Hae Kim

Pages:

1244-1248

DOI:

10.4028/www.scientific.net/AMR.199-200.1244

Citation:

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

Online since:

February 2011

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Price:

$35.00

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