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DUAN Xingguang
School of Mechatronics Engineering,
Beijing Institute of Technology,
Beijing 100081, China
School of Vocational Technology,
Hebei Normal University,
Shijiazhuang 050031, China
HUANG
Qiang
School of Mechatronics Engineering, Beijing Institute of
Technology,
Beijing 100081, China
XU
Yan
School of Vocational Technology,
Hebei Normal University,
Shijiazhuang 050031, China
RAHMAN N
ZHENG Change
School of Mechatronics Engineering,
Beijing Institute of Technology,
Beijing 100081, China
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DEVELOPMENT AND MOTION
ANALYSIS OF MINIATURE
WHEEL-TRACK-LEGGED
MOBILE ROBOT*
Abstract:
A miniature wheel-track-legged mobile robot to carry out military and civilian missions in both indoor and outdoor environments is presented. Firstly, the mechanical design is discussed, which consists of four wheeled and four independently controlled tracked arms, embedded control system and teleoperation. Then the locomotion modes of the mobile robot and motion analysis are analyzed. The mobile robot can move using wheeled, tracked and legged modes, and it has the characteristics of posture-recovering, high mobility, small size and light weight. Finally, the effectiveness of the developed
mobile robot is confirmed by experiments such as posture
recovering when tipped over, climbing stairs and traversing the high step.
Key words:
Mobile robot Locomotion modes Stair-climbing Posture recovery
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