Design and Motion Analysis of a Mobile Robot Based on Linkage Suspension
Ya Chen*, Dianjun Wang*,, Haoxiang Zhong*, Yadong Zhu*, Jiaheng Yang*, and Chaoxing Wang**
*Beijing Institute of Petrochemical Technology (BIPT)
No.19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, China
**Beijing U-Precision Tech Co., Ltd.
No.19 Kechuang 10th Street, Beijing Economic-Technological Development Area, Beijing 100176, China
With the wide application of mobile robots, their environment and tasks are becoming more complex. There are more requirements for its performance, such as improving environmental adaptability, while ensuring efficiency. This study proposes an all-terrain mobile robot with a linkage suspension and its complex kinematics and dynamic model are studied. According to the wheelcenter modeling method, the kinematic characteristics of the six wheels of a mobile robot under irregular terrain are analyzed and the kinematics theoretical model is established. Based on the D’Alembert principle, the dynamic model of each stage is established as the robot climbs over the steps. Thereafter, motion simulation analysis is conducted using a virtual prototype technology to verify the rationality of the structural design. Finally, the error test of the mobile robot prototype is executed, and the average deviation error of linear motion is 13.251 mm, whereas the forward and backward in situ turning errors are 9.906 mm and 9.189 mm, respectively. The test results indicate that the kinematics theoretical analysis of the mobile robot is reasonable, and the robot has good motion ability. This study provides a theoretical basis for the research of high-quality navigation and control system of the mobile robot.
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