Modeling and Simulation of a Six-leg-wheel Hybrid Mobile Robot Based on ADAMS
The dynamic modeling of a six-leg-wheel hybrid mobile robot was built using ADAMS software in this paper. Using the ADAMS model, the kinematic simulation, including the displacement, velocity and acceleration of each part of the robot, can be carried out and the dynamic simulation, including driving torque of joints, contact force and torque between the wheels with ground and the ability of obstacle negotiation, can also be achieved. The simulation examples were presented. The simulation analyses provide the theory basis for the design of the robot control system based on dynamics.
six-leg-wheel hybrid mobile robot dynamic modelling dynamic simulation
Yanjie Li Zhenwei Wu
School of Mechanical Engineering, Shenyang Ligong University, Shenyang, China State Key Laboratory o State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, She
国际会议
2010 International Conference on Advanced Mechanical Engineering(2010年先进机械工程国际学术会议 AME 2010)
洛阳
英文
194-197
2010-09-04（万方平台首次上网日期，不代表论文的发表时间）