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| Analysis of wheeled walking for wheeledtracked environmental robot |
| ZHU Long-Ying1,2, WANG Peng2, CUI Zhen-Ping3, ZHU De-Shuai2 |
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Abstract According to the complicated environment of the outdoors,a wheeledtracked environmental robot was designed,the structure realization of the trackwheel device was expounded,also the protection device was designed to ensure the stability of the transformation.The mobile mechanism of robots may be changed according to the changing environment so as to improve the robot adaptation ability to the environment.A model was established in UG NX.Both the kinematic and the dynamic model of the robot with the wheels in the nonslip and slip condition were separately established,also Lagrange dynamics equation in the nonslip condition was built,the dynamitic coupling between the manipulator and mobile platform was analysed,the numerical simulation 〖JP2〗was finished in Matlab,it is concluded that the coupling between the two is not very clear in the low speed,but it is real in presence,the results provide a theoretical basis for the control system．
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Published: 15 June 2012
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轮履组合式环保机器人轮式行走分析
1.School of Mechanical Engineering, Yancheng Institute of Technology, Yancheng 224003, China;
2.School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China;
3.School of Computer Science and Communication, Jiangsu University, Zhenjiang 212013, China
关键词：
轮履组合变换,
环保机器人,
动力学分析,
耦合
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