Abstract
In this paper, we propose a mathematical model for the kinematics of an articulated robot, called 2DWAR. The wheeled robot has two bodies joined by a 2 DOF hinge assembly. This robot can reshape its articulated frame to perform the excellent mobile stability when it runs in the rough-terrain. For the unique 2 DOF articulated frame, we propose the new concept of correlative stability. Based on the proposed model, the correlative stability angle of the robot is developed using multi-body kinematics and dynamic energy stability method. Equations are implemented in an algorithm used to study the kinematics of the articulated robot.
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References
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Yang, Z., Xinhui, L., Tongjian, W. (2010). Kinematics Modeling and Analyses of an Articulated Robot. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6425. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16587-0_17
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DOI: https://doi.org/10.1007/978-3-642-16587-0_17
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16586-3
Online ISBN: 978-3-642-16587-0
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