Inchworm-type Wheeled Mobile Robot Modeling and Simulation

被引：0
|
作者：
Zhang, Lei [1 ,2 ]
Cheng, Xiaomin [1 ]
Hu, Hua [2 ]
Chen, Meng [2 ]
机构：
[1] Ningbo Univ Technolog, Ningbo, Zhejiang, Peoples R China
[2] Jilin Univ, Changchun, Jilin, Peoples R China
来源：
ADVANCES IN MECHANICAL ENGINEERING, PTS 1-3 | 2011年 / 52-54卷
基金：
中国国家自然科学基金;
关键词：
Geometrid; Wheeled mobile robot; Kinematics; Pro/E simulation;
D O I：
10.4028/www.scientific.net/AMM.52-54.1051
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Inchworm-type wheeled mobile robot is a non-comprehensive, all-driven system. This paper establishes a kinematical model for such system. Based on the kinematical model, the motion of the system is analytically studied, and the simulation of the motion for this system is conducted with the means of Pro/E. The system in the dynamic motion presented make the collision avoidance and path seeking easier. It also provides a motion mould for the simulation, and proves the theoretical analysis is right.
引用
收藏
页码：1051 / +
页数：2
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