Abstract
This paper applies terrain vehicle mechanics theory to analyze and solve the traffic-ability characteristic of the field-steering spraying robots, to guide the walking system design and selection of walking wheels. The presented four-motor-drive plan, which is based on the comprehensive analysis of power, steering, driving and control system, could conveniently realize four-wheel steering and four-wheel drive. This plan had the characteristics of simple structure, reliability and flexible control, comprehensively resolved the key technique of robots operation. It is of a high reference value for the design and research of the auto-mobile robots walking mechanism and control system.
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