Design, Analysis, and Experiment of a Wheel-Legged Mobile Robot
Source abstract
Abstract
In this paper, a wheel-legged mobile robot is proposed. The parameter design of the wheel-leg structure is completed using geometric analysis and statics modeling. The curling mechanism is chosen as the main part of the robot, expanding the robot’s application scenarios. Particle swarm optimization is used to determine the number of body sections and their length. After dynamic simulation, rubber is selected as the wheel-leg cover material. Based on the above results, a prototype is made and subject to experiments in different terrains. The experiment results verify that the robot is adaptable to multiple terrains with strong obstacle-crossing ability.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Locomotion and Control · Control and Dynamics of Mobile Robots · Robotic Path Planning Algorithms
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350, China
Funding
Natural Science Foundation of China · Programme of International Collaboration (“111 Program”)
References (44)
Show source-provided references
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