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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Mechan. Machine Science


    Contributors:
    Tan, Jianrong (editor) / Liu, Yu (editor) / Huang, Hong-Zhong (editor) / Yu, Jingjun (editor) / Wang, Zequn (editor) / Ren, Xiaolei (author) / Liu, Hui (author) / Xia, Jiaoyang (author) / Hao, Weihe (author) / Shang, Qingyi (author)

    Conference:

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


    Published in:

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


    Publication date :

    2024-06-20


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Jumping flying posture adjusting device and wheel-legged vehicle

    HAN LIJIN / XU SHAOWEI / XIE JINGSHUO et al. | European Patent Office | 2025

    Free access

    Wheel-leg mechanism and wheel-legged vehicle comprising same

    LIU HUI / REN XIAOLEI / HAN ZIYONG et al. | European Patent Office | 2023

    Free access

    WHEEL-LEG MECHANISM AND WHEEL-LEGGED VEHICLE COMPRISING SAME

    LIU HUI / REN XIAOLEI / HAN ZIYONG et al. | European Patent Office | 2023

    Free access

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

    HUANG GAO / HUANG QIANG / MA XIAOSHUAI et al. | European Patent Office | 2020

    Free access

    Posture Control of a Reconfigurable Mobile Vehicle with Legged Mode

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