Dynamic Analysis of a Rotatable Mobile Robot Based on Turning Pose
A rotatable wheeled mobile robot is studied to develop a ground robot applied to special rough environment, such as turning a somersault. The system structure and design are described in this paper. The dynamic modeling of turning states is inferred by Alembert Principle. Some parameters are analyzed combining driving ability. The robot’s condition of overthrow and reset is gained. The dynamic simulation analysis of the turning state are realized with ADAMS software, the main factors influencing turning function are found. The results help to design the wheeled mobile robot, which can run successfully in a complicated environment and develop its adaptability.
Zhengyi Jiang and Chunliang Zhang
Y. H. Zhao and R. F. Chen, "Dynamic Analysis of a Rotatable Mobile Robot Based on Turning Pose ", Advanced Materials Research, Vols. 97-101, pp. 3489-3492, 2010