Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot
The wheel-legged robot has the advantages of fast moving velocity of wheeled robot and strong passing obstacle capability of legged robot,and it is the development direction of new type mobile robot. A kind of wheel-legged mobile robot based on 3-PUU parallel mechanism is presented. It has advantage...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.03.020 |
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| author | Miao Zhiying Li Ruiqin Zhang Qisheng Liang Jingjing Meng Hongwei Liang Shijie |
| author_facet | Miao Zhiying Li Ruiqin Zhang Qisheng Liang Jingjing Meng Hongwei Liang Shijie |
| author_sort | Miao Zhiying |
| collection | DOAJ |
| description | The wheel-legged robot has the advantages of fast moving velocity of wheeled robot and strong passing obstacle capability of legged robot,and it is the development direction of new type mobile robot. A kind of wheel-legged mobile robot based on 3-PUU parallel mechanism is presented. It has advantages of simple structure,high stiffness and strong carrying capacity. The leg walking gait of 3-PUU wheel-legged mobile robot is analyzed. The wheel and leg switch principle and the steering principle under wheel type mode are explained.The stability of robot moving on the road surface is analyzed according to the calculation of gravity,and the maximum step is determined. The trajectory equation is derived by using three spline interpolation and the variation rules of displacement,velocity and acceleration are obtained by using Matlab software. The simulation results show that the robot can achieve continuous and stable walking. The robot can be used in the rescue tasks such as underground coal mines and other dangerous environments. |
| format | Article |
| id | doaj-art-b34621986a9d466fa5174960d214a2f5 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b34621986a9d466fa5174960d214a2f52025-01-10T14:43:13ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142909329935798Gait and Stability Analysis of 3-PUU Wheel-legged Mobile RobotMiao ZhiyingLi RuiqinZhang QishengLiang JingjingMeng HongweiLiang ShijieThe wheel-legged robot has the advantages of fast moving velocity of wheeled robot and strong passing obstacle capability of legged robot,and it is the development direction of new type mobile robot. A kind of wheel-legged mobile robot based on 3-PUU parallel mechanism is presented. It has advantages of simple structure,high stiffness and strong carrying capacity. The leg walking gait of 3-PUU wheel-legged mobile robot is analyzed. The wheel and leg switch principle and the steering principle under wheel type mode are explained.The stability of robot moving on the road surface is analyzed according to the calculation of gravity,and the maximum step is determined. The trajectory equation is derived by using three spline interpolation and the variation rules of displacement,velocity and acceleration are obtained by using Matlab software. The simulation results show that the robot can achieve continuous and stable walking. The robot can be used in the rescue tasks such as underground coal mines and other dangerous environments.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.03.020Mobile robotWheel-legged robot3-PUUGaitStability |
| spellingShingle | Miao Zhiying Li Ruiqin Zhang Qisheng Liang Jingjing Meng Hongwei Liang Shijie Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot Jixie chuandong Mobile robot Wheel-legged robot 3-PUU Gait Stability |
| title | Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot |
| title_full | Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot |
| title_fullStr | Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot |
| title_full_unstemmed | Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot |
| title_short | Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot |
| title_sort | gait and stability analysis of 3 puu wheel legged mobile robot |
| topic | Mobile robot Wheel-legged robot 3-PUU Gait Stability |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.03.020 |
| work_keys_str_mv | AT miaozhiying gaitandstabilityanalysisof3puuwheelleggedmobilerobot AT liruiqin gaitandstabilityanalysisof3puuwheelleggedmobilerobot AT zhangqisheng gaitandstabilityanalysisof3puuwheelleggedmobilerobot AT liangjingjing gaitandstabilityanalysisof3puuwheelleggedmobilerobot AT menghongwei gaitandstabilityanalysisof3puuwheelleggedmobilerobot AT liangshijie gaitandstabilityanalysisof3puuwheelleggedmobilerobot |