Research on Kinematic of the Wheel-Legged Robot Based on Uneven Road Surface

Abstract:

A new type of wheel-legged mobile robot is presented in the paper, which is mainly used for early toxic gas leakage warning and disaster relief in the field of wild environment. The paper first presents the structure feature of the new wheel-legged mobile robot. According to the structure of the robot, the kinematics model about robot moving on the smoothing-riding surface is built. On this basis, considering the effects of the disturbance by uneven road surface the paper carries out the robots kinematics analysis. To simulate the result of robot moving on the real road surface, the paper researches on the robots kenimatics by inputing some typical ground driving to the robot. The result of the simulation experiment shows that the robot pose error is more increasing. So the influence of ground disturbance to robot should be took into account in designing the control symstem, which can decrease the pose error and make robot move more accurately.

• Periodical: Advanced Materials Research (Volumes 712-715)
• Pages: 2312-2319
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.712-715.2312
• Online since: June 2013
• Authors: Ping Peng, Xiao Jun Zhang, Jun Zhang, Zhe Liu
• Keywords: Ground Driving Force, Kinematics Analysis, Uneven Road Surface, Wheel-Legged Robot

References

[1] Hou Guo-qing.Kinematical Analysis and Stability Study of Mobile Robot Travelling System. Tianjin:Hebei University of Technology, 2007.12

[2] Koshiyama A,Yamafuji K. design and control of an all-directionsteering type mobile robot. The International Journal of Robotic Research. 1993,12(5):411-419

DOI: 10.1177/027836499301200502

[3] Cui Genqun,Li Chunshu,Zhang Minglu.Kinematic Analysis of Mobile Manipulator for Measurement and Maintenance in Dangerous Environment. Journal of Wuhan University of Technology.2006, 28(1): 983-988

DOI: 10.1049/cp:20061082

[4] RuggiuM. Kinematics analysis of the CUR translationalmanipulator machine. Mechanism and Machine Theory, 2008, 43(9):1087-1098

DOI: 10.1016/j.mechmachtheory.2007.10.001

[5] Kanaan D,WengerP,ChablatD. Kinematic analysis of a serial-parallelmachine to the VERNE machine. Mechanism andMachineTheory,2009,44(2):487-498

DOI: 10.1016/j.mechmachtheory.2008.03.002

[6] Thueer T, Lamon P, Krebs A, et al. CRAB-Exploration rover with advanced obstacle negotiation Capabilities.Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation. 2006: 1-8.

[7] Borenstein J.Control and kinematics design of mult-degree-of freedom mobile robots with compliant linkage. IEEE Trans. Robotics and Au-tomation,1995,11(1):21-35

DOI: 10.1109/70.345935

[8] FENG Hu-tian, OU Yi, GAO Xiao-yan Dynamic Modeling and Analysis of Miniature Ground-moving Robot Based on Special Moving Pose. Journal of Nanjing University of Science and Technology(Natural Science),2006,30(4):28-34