This paper introduces a new electric wheel-legged vehicle, which aims to improve the ability of unmanned mobile platform to perform multiple tasks in complex environment. The vehicle has the characteristics of both the leg-based system and wheel-based system, which has good obstacle crossing and fast-moving ability simultaneously. The structure form and function mode of the wheel-legged vehicle is designed. In order to analyze the overall motion of the vehicle, the kinematic model is established. The forward and inverse kinematics is calculated and the angle functions of each joint of the legs are presented. A set of posture control algorithm based on attitude analysis and inverse kinematics is designed for the vehicle, which is used to simulate the vehicle's height, roll and pitch motion. The simulation results preliminarily verify the rationality of mechanism design and the effectiveness of posture control.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Study on Mechanism Design and Posture Control of a Wheel-Legged Vehicle


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Tan, Jianrong (Herausgeber:in) / Liu, Yu (Herausgeber:in) / Huang, Hong-Zhong (Herausgeber:in) / Yu, Jingjun (Herausgeber:in) / Wang, Zequn (Herausgeber:in) / Ren, Xiaolei (Autor:in) / Liu, Hui (Autor:in) / Xia, Jiaoyang (Autor:in) / Hao, Weihe (Autor:in) / Shang, Qingyi (Autor:in)

    Kongress:

    ICMD: International Conference on Mechanical Design ; 2023 ; Chengdu, China October 20, 2023 - October 22, 2023


    Erschienen in:

    Advances in Mechanical Design ; Kapitel : 132 ; 2085-2098


    Erscheinungsdatum :

    20.06.2024


    Format / Umfang :

    14 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Jumping flying posture adjusting device and wheel-legged vehicle

    HAN LIJIN / XU SHAOWEI / XIE JINGSHUO et al. | Europäisches Patentamt | 2025

    Freier Zugriff

    Wheel-leg mechanism and wheel-legged vehicle comprising same

    LIU HUI / REN XIAOLEI / HAN ZIYONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    WHEEL-LEG MECHANISM AND WHEEL-LEGGED VEHICLE COMPRISING SAME

    LIU HUI / REN XIAOLEI / HAN ZIYONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Wheel-legged robot stress-type motion posture conversion method and system

    HUANG GAO / HUANG QIANG / MA XIAOSHUAI et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Posture Control of a Reconfigurable Mobile Vehicle with Legged Mode

    Tian, Jian Ying ;Li, Pei Yu ;Li, Ya Ping | Trans Tech Publications | 2014