Planar kinematics modeling and analysis of wheeled mobile robots
ObjectiveBased on the basic assumption of solving the planar kinematics of wheeled mobile mechanisms, the planar kinematics problem of wheeled mobile robots was studied.MethodsFirstly, the kinematic solution method for a rigid body pure rolling on a fixed plane curve was analyzed, and the time diffe...
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| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2025-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.02.004 |
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| Summary: | ObjectiveBased on the basic assumption of solving the planar kinematics of wheeled mobile mechanisms, the planar kinematics problem of wheeled mobile robots was studied.MethodsFirstly, the kinematic solution method for a rigid body pure rolling on a fixed plane curve was analyzed, and the time differentiate expression of arc-coordinate of the contact point which the rigid body pure rolling on the curve during the process was obtained; combined the expression with the example of actuated wheel pure-rolling on the terrain, the coordinate of the contact point was obtained as the drive function which represented the interaction between the actuated wheel and the terrain. Secondly, the coordinate relation between wheel-terrain contact point and wheel center was derived through the normal direction wheel radius deviation method, making the wheel center trajectory equation ascertain. Thirdly, the derivation was specialized to six-wheel guide-bar-linkage suspension; to illustrate the development method, the solving process was divided into two parts: the rear wheel leg and the rocker arm front wheel leg; the constraints equations of mobility mechanism, drive function of actuated wheel and wheel center trajectory of passive wheel were combined to form the composite equations of the wheeled mobile robot motion. The kinematic equations of mobile robots were solved by using the Matlab nonlinear equation solving algorithm in an integral definition recursive loop, and completed post-processing of parameters. Finally, Adams software was used to simulate and verify the theoretical model.ResultsThe results show that the modeling and solving process of the planar kinematics model of the wheeled mobile robot composed of the driving wheel driving function, mechanism constraint equation, and wheel center trajectory equation is accurate, and can obtain the motion information of each component of the robot. This method can be summarized as a universal approach for modeling and solving the planar kinematics of wheeled mobile robots. |
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| ISSN: | 1004-2539 |