Dynamic Simulation Analyses of a Six-Leg-Wheel Hybrid Mobile Robot under Uneven Terrains

A six-leg-wheel hybrid mobile robot was designed to move under uneven terrains. The dynamic simulaition model of the six-leg-wheel hybrid mobile robot was built using ADAMS software. The kinematic and dynamic characteristic simulation analysis was presented. These characteristics includes the displacement, velocity and acceleration of each part of the robot and driving torque of joints, contact force and torque between the wheels with ground and the ability of obstacle negotiation. The simulation analyses provide the theory basis for the design of the robot control system based on kinematics and dynamics.