Stability Analysis of a Wheel-Track-Leg Hybrid Mobile Robot

2017 ◽  
Vol 91 (3-4) ◽  
pp. 515-528 ◽  
Author(s):  
Yuhang Zhu ◽  
Yanqiong Fei ◽  
Hongwei Xu
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Wheel Track

scholarly journals Dynamics and stability analysis on stairs climbing of wheel–track mobile robot

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772078 ◽  
Author(s):  
Xueshan Gao ◽  
Dengqi Cui ◽  
Wenzeng Guo ◽  
Yu Mu ◽  
Bin Li
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Theoretical Basis ◽  
Classical Mechanics ◽  
General Introduction ◽  
And Control ◽  
Climbing Stairs ◽  
Wheel Track

A transformable wheel–track robot with the tail rod whose winding will coordinate the center of gravity of the robot is researched, and a theoretical basis for the stable climbing of the robot is provided. After a general introduction of the research, firstly the mechanical hardware and control hardware composition of the wheel–track robot is provided and the principles of its mechanical structure are illustrated. Secondly, through studying the fundamental constrains during the process of the robot climbing the obstacles, a mathematical model based on classical mechanics method is built to help analyze the dynamic principles of a wheel–track mobile robot climbing stairs. Thirdly, the dynamic stability analysis is carried out by analyzing not only the interaction among forces of track, track edge, and stair step but also the different stabilities of the robot when the track and the stairs have different touch points. Finally, an experiment of the modeling track robot climbing the stairs has convinced the effectiveness of the dynamic theories researched, which will be a beneficial reference for the future mobile robots obstacle climbing studies.

scholarly journals Functional Design of a Hybrid Leg-Wheel-Track Ground Mobile Robot

Machines ◽  
2021 ◽  
Vol 9 (1) ◽  
pp. 10
Author(s):  
Luca Bruzzone ◽  
Mario Baggetta ◽  
Shahab E. Nodehi ◽  
Pietro Bilancia ◽  
Pietro Fanghella
Keyword(s):  
Mobile Robot ◽  
High Energy ◽  
General Purpose ◽  
Stair Climbing ◽  
Functional Design ◽  
Multibody Simulation ◽  
Embodiment Design ◽  
Locomotion System ◽  
Hybrid Locomotion ◽  
Wheel Track

This paper presents the conceptual and functional design of a novel hybrid leg-wheel-track ground mobile robot for surveillance and inspection, named WheTLHLoc (Wheel-Track-Leg Hybrid Locomotion). The aim of the work is the development of a general-purpose platform capable of combining tracked locomotion on irregular and yielding terrains, wheeled locomotion with high energy efficiency on flat and compact grounds, and stair climbing/descent ability. The architecture of the hybrid locomotion system is firstly outlined, then the validation of its stair climbing maneuver capabilities by means of multibody simulation is presented. The embodiment design and the internal mechanical layout are then discussed.

scholarly journals Delayed Trilateral Teleoperation of a Mobile Robot

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
D. Santiago ◽  
E. Slawiñski ◽  
V. Mut
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Shared Environment ◽  
Time Varying ◽  
Control Parameters ◽  
Simple Test ◽  
Control Loop ◽  
Teleoperation System ◽  
Human Operators ◽  
The Stability

This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.

scholarly journals A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage

2018 ◽  
Vol 128 ◽  
pp. 16-32 ◽  
Author(s):  
Zirong Luo ◽  
Jianzhong Shang ◽  
Guowu Wei ◽  
Lei Ren
Keyword(s):  
Mobile Robot ◽  
Wheel Track

scholarly journals Omnidirectional Mobile Robot Dynamic Model Identification by NARX Neural Network and Stability Analysis Using the APLF Method

Symmetry ◽  
2020 ◽  
Vol 12 (9) ◽  
pp. 1430
Author(s):  
Liang Xin ◽  
Yuchao Wang ◽  
Huixuan Fu
Keyword(s):  
Neural Network ◽  
Stability Analysis ◽  
Mobile Robot ◽  
Dynamic Model ◽  
Complex Dynamics ◽  
Model Identification ◽  
Theoretical Method ◽  
Omnidirectional Mobile Robot ◽  
Path Dependent ◽  
Narx Neural Network

In this paper, the NARX neural network system is used to identify the complex dynamics model of omnidirectional mobile robot while rotating with moving, and analyze its stability. When the mobile robot model rotates and moves at the same time, the dynamic model of the mobile robot is complex and there is motion coupling. The change of the model in different states is a kind of symmetry. In order to solve the problem that there is a big difference between the mechanism modeling motion simulation and the actual data, the dynamic model identification of mobile robot in special state based on NARX neural network is proposed, and the stability analysis method is given. To verify that the dynamic model of NARX identification is consistent with that of the mobile robot, the Activation Path-Dependent Lyapunov Function (APLF) algorithm is used to distinguish the NARX neural network model expressed by LDI. However, the APLF method needs to calculate a large number of LMIs in practice and takes a lot of time, and, to solve this problem, an optimized APLF method is proposed. The experimental results verify the effectiveness of the theoretical method.

INVARIANT AND CONTRACTIVE SETS IN MOTION STABILITY ANALYSIS OF A MOBILE ROBOT

2007 ◽  
Vol 40 (18) ◽  
pp. 133-138
Author(s):  
M. Voicu ◽  
M.H. Matcovschi ◽  
O. Pastravanu
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Motion Stability

Longitudinal Associated Stability Analysis of Mobile Robot in Rough Terrain

2013 ◽  
Vol 572 ◽  
pp. 632-635
Author(s):  
Ming Bai ◽  
He Xu ◽  
Long He ◽  
Wei Xing Guo ◽  
Chang Hua Qiu
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Stability Theory ◽  
Static Stability ◽  
Rough Terrain ◽  
Associated Factor ◽  
Differential Mechanism

Focusing on the longitudinal adaptability of a three-fuselage articulated with separated differential mechanism in rough terrain, the associated factor which could be a criterion for the judgment of longitudinal associated stability of mobile robot has been proposed, and the analysis results of the longitudinal associated stability under different situation have been obtained based on static stability theory of mobile robot.

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