东华大学学报（英文版）2003，Vol.20Issue(3)：27-31,5.
Direct and Inverse Kinematic Analysis of a Leg-wheeled Passive Wheel Mobile Robot--Ice-skater Robot
Direct and Inverse Kinematic Analysis of a Leg-wheeled Passive Wheel Mobile Robot--Ice-skater Robot
宋立博 1张家梁 1吕恬生 2陆顺寿1
作者信息
- 1. School of Mechanical Engineering,Shanghai Jiaotong University,Shanghai,200030
- 2. College of Mechanical Engineering,Donghua University,Shanghai,200051
- 折叠
摘要
Abstract
A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of four legs respectively and parallel mechanisms were used as legs. And an inertia coordinate system and a robot coordinate system were established, the related kinematic equation of the robot was gotten according to some assumptions after the configuration or the posture of wheels and legs was analyzed. At the same time, the turning conditions of the robot were also obtained. Based on the motion principle, the VSS-based logic control system was designed and the skating straight experiments and the turning experiments were conducted. And some conclusions were drawn.关键词
Ice-skater Robot/hybrid mobile robot/kinematicanalysis/VSS-based logic controlKey words
Ice-skater Robot/hybrid mobile robot/kinematicanalysis/VSS-based logic control分类
信息技术与安全科学引用本文复制引用
宋立博,张家梁,吕恬生,陆顺寿..Direct and Inverse Kinematic Analysis of a Leg-wheeled Passive Wheel Mobile Robot--Ice-skater Robot[J].东华大学学报（英文版）,2003,20(3):27-31,5.
