Kinematics Modeling and Simulation of Wheel-foot Hybrid Walking Robot

Kinematics Modeling and Simulation of Wheel-foot Hybrid Walking Robot

Combining the advantages of the foot robot and the wheeled robot，a wheel-foot hybrid walking robot configuration based on 2 (6-UPUR+3P) hybrid legs is proposed，and the kinematics modeling and simulation analysis of the robot are carried out. Based on the spiral theory，a six-dimensional motion spiral...

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Bibliographic Details
Main Authors: Xinxing Tang, Deyong Zhang, Rui Wang, Chengzhi Su, Fangyuan Han
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2021-11-01
Series:Jixie chuandong
Subjects:
Wheel-foot hybrid walking robot
Kinematics
Spiral theory
Influence coefficient method
Posture adjustment
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.010

Internet

http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.010

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