Title :
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
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;
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
DOI :
10.1109/ROBIO.2007.4522210
