Wheel-legged Mobile Robot Platform Kinematic And Dynamic Analysis

Wheel-legged mobile robot not only has the character of quick trip of the Wheeled mobilerobot, but also can adapt to complex environment as the leg robot perfectly. So the wheel-leggedmobile robot has become the main research field. This paper presents a new type ofwheel-legged mobile robot platform. The robot can drive on a flat terrain environment as theWheeled mobile robot, and use the leg on a uneven terrain environment. It can change its centerof mass’s position through the moving of middle body adjusted by the Adjustable tiltingmotor.The robot can cross the ditch and step obstacles under the second method. The robot alsocan span equivalent to1.2times wheel diameter high barriers and across40slope and side slope.It has strong terrain adaptability.First of all, the paper presents the structure feature of the wheel-legged mobile robot andanalyses the change of robot’s gesture when it transits the ditch and step obstacles. The papercarries out the steering kinematics analysis, then builds the robot’s kinematics equation. Theinfluence on the robot of the uneven terrain environment is transformed into two forces. Base onwhich, analyses the over-obstacle performance of the robot platform. And used MATLAB toverify the kinematics equation through simulating several typical terrains.Then carried out the dynamics analysis of the robot platform, including steering dynamicsanalysis, obstacle crossing dynamics analysis and so on. Geometric tolerance is introduced andanalyzed in the process of the obstacle crossing. And using the design study of ADAMS get therelationship between energy consumption and geometric tolerance.At last the model of steering dynamics equation is built by taken advantage of simulink,Analyses the change of Steady state angular velocity gain, Yaw-rate stable value and Center ofmass of side-slip Angle step response to verify whether the size parameters and structure featureof the wheel-legged mobile robot platform is suitable when the robot makes a turn.