The Open Mechanical Engineering Journal

2015, 9 : 467-474
Published online 2015 July 24. DOI: 10.2174/1874155X01509010467
Publisher ID: TOMEJ-9-467

Kinematic Analysis and Leveling Control Method for a Novel Wheel- Legged Robot

Sun Zhibo , Liu Jinhao , Yu Chunzhan and Kan Jiangming
School of technology, Beijing Forestry University Qinghua East Road, Beijing, Postcard: 100083, China.

ABSTRACT

The paper introduces a novel auto-leveling system applied to the obstacle-surmounting robot with six wheellegs. The leveling model of the robot with six wheel legs and one articulated steering is analyzed. Besides, the kinematic model of the robot is presented. In order to optimize the leveling algorithm, a special PID control strategy with the leveling matrix is applied to the leveling system. The experiment shows that the new leveling system can improve the efficiency and the stability of the leveling performance: the leveling time is reduced by 3.5 seconds and the obvious tilt fluctuations are decreased by 5 times.

Keywords:

Efficiency, kinematic equations, leveling system, wheel-legged robot.