Abstract
The paper presents a biaxial and four-wheeled robot, mainly composed of two axle, two circular wheels and two three-leaved wheels. By analyzing the difference between the velocity of the circular wheel and three-leaved wheel in same axle, the steering principle of the difference velocity is proved. The three-leaved wheels are installed by a complementary phase method to ensure the stability of the robot walking. Through the steering principle, the control method of robot’s forward, backward, turn left and turn right is designed. A large number of experimental results show that the robot has the characteristics of high steering efficiency, simple mechanical structure and easy to control.
Highlights
In order to the wheeled robot has better mobile efficiency, many scholars have designed various structures for steering
Each end of the axle is mounted with a circular wheel and a three-leaved wheel, respectively
Two circular wheels and two three-leaved wheels are installed on both sides of the body
Summary
In order to the wheeled robot has better mobile efficiency, many scholars have designed various structures for steering. Fu Yi-li, et al [1] proposed a variety of steering methods using omni-directional wheeled mode. Qian J et al [8] designed and developed an omni-directional mobile robot oriented to an intelligent manufacturing system.Zi B et al [9]designed a winding hybrid-driven cable parallel manipulator. They proposed the mechanical structures or algorithms are too complex and difficult to control.
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