Abstract
The dynamic analysis of a wheel-legged robot with multiple drive modes is studied.Firstly,the vertical obstacle negotiation process is described,then the dynamic model for the process is built.The torque distribution between all motors,the influential factors of movement states and gravity allocation are included in the model.By means of the investigation of the whole process,the utmost states of two kinds of motors' torque in the driving system are ascertained.The influences of different factors on the maximal output torques are analyzed and the method to work out the maximal height that the robot can rove through is brought forward finally.The result will provide a theoretical foundation to improve the robot's adaptability in complicated environments.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
