Dynamic modeling and construction of a two-wheeled mobile manipulator, part II: Modified obstacle climbing

This paper is an effort to promote the self-balancing two wheeled mobile manipulator proposed in Part I of this article. In part I, we introduced a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the required level of self-balancing without applying any certain complex controller. Now, in this paper, a new modified platform is developed to climb high obstacles. In order to obtain this aim, some transformations are done in mechanical aspects like wheels, arms and main body without any increase in DOFs. The robot is supposed to follow proposed motion calculated according to stability criteria. The kinematic equations are utilized to find a possible motion. In a dynamic simulation, the robot ability in passing over an obstacle is verified.