| This paper studies the kinematics and the cushioning mechanism of mobile robot driven by two independent wheels. A general stack equation of mobile robot based on analyzing the motion of planar motion object and the mathematical models of four different kinds of common wheels is developed, accordingly, the mobility of mobile robot is addressed and the forward and inverse solutions to speed for specific configuration driven by differential speed are derived. Utilizing the Muir and Newman convention, the description of the posture transformation matrices between different coordinate frames and the solution for the speed of point located on these frames are introduced. According to posture estimation, a more accurate method, dead reckoning algorithm, is developed for a specified configuration characterized by differential speed motorization, and simulations of this algorithm and other traditional methods are carried out using MATLAB while traversing a circular path. At last, a more systematic and reliable procedure of cushioning mechanism design aiming at the robot studied in this paper is given out, which largely reduced the errors from varieties of uncertainties coming from outer circumferences and design aspects. The outcomes in this paper have been functioned on a prototype used as a test-bed, of which the practical application and checking have proved the feasibility and efficiency of these studies.
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