Dynamic Analysis of the Wheel-Legged Mobile Robot

摘要

The design of the wheel-legged mobile robot is mainly used for the early toxic gas leakage warning and disaster relief in the field of wild environment. The robot needs to cross some obstacles such as ditch and step when carrying out a task. The paper analyzes the strategies of robot passing the all kinds of obstacles. Considering the influence of disturbance by uneven road surface, the dynamic model of robot crossing the step and groove on the uneven road surface is built based on the robots structural features. While the control model of front wheel-leg is also presented based on the robot dynamic model. The results of simulation expriments demonstrate the correctness of the built dynamic model and laid the foundation for the design of the robot control system.