Kinematic analysis on a mobile robot composed of three wheeled units

Author

Changlong Ye ; Shugen Ma

Author_Institution

Sch. of Machinery & Automobile, Shenyang Inst. of Aeronaut. Eng., Shenyang

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

485

Lastpage

489

Abstract

A mobile robot with three links on which the passive wheels are fixed is presented in this paper. This robot can move with two formation decided by the different connection between links and body of robot. This link is a type of joint mechanism called modular universal unit(MUU). The MUU behaves Pitching, Yawing and Rolling D.O.F. A series of passive rollers around the cylindrical aluminum shell of MUU form an actuating wheel for mobile robot. The communication and replacement are feasible due to high integration of MUU. The mobile robot consisting of three MUUs can move by winding the links or by driving links to rotate. The kinematic analysis of this robot is given to show its performance on mobility. Finally, some locomotion simulations are given to show characteristic of robots.

Keywords

legged locomotion; robot kinematics; wheels; actuating wheel; cylindrical aluminum shell; kinematic analysis; locomotion simulation; mobile robot; modular universal unit; passive roller; Couplings; Gears; Kinematics; Mobile robots; Motion control; Motor drives; Robotics and automation; Servomotors; Torque; Wheels; Kinematics; Omnidirectional motion; Three wheeled robot; snake-like robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522210

Filename

4522210