Abstract
Dynamics and motion planning of a wheel-legged robot with two manipulator arms is discussed in this paper. This robot can move on flat surfaces fast, while it has the capability of moving over rough terrains. The two locomotion subsystems, i.e. wheeled mechanism and legged mechanism, will be discussed separately. Wheeled locomotion mechanism includes three wheels, two of them are in the back as active wheels with a differential driver. Legged locomotion mechanism includes two legs each with 4 revolute joints, i.e. 4 degrees of freedom (DOF). Two manipulators are installed on the main body to perform variant tasks, each of them is a PRR 3 DOF arm. Using direct path method (DPM) the robot kinematics is developed, and using Lagrangian approach the equations of motion are derived. A new method, called return path method (RPM), is proposed to add the constraints of the system to the kinetics equations without introducing additional variables. To eliminate the terms corresponding to the constraints, natural orthogonal complement method is used. Finally, motion planning of the robot is investigated to develop a stable gait planning procedure.
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.
