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A novel wheel-track hybrid mobile robot with many movement patterns is designed.According to different environments,it can switch between the pure wheel pattern and the pure track one.According to a homogeneous coordinate transformation matrix,gravity stability and its obstacle performance are analyzed.Its gravity equation and climbing obstacle conditions are established.Experimental results show that this hybrid mobile robot could fully possess the advantages of both the wheel and the track mechanisms and achieve a good obstacle climbing capability.
A novel wheel-track hybrid mobile robot with many movement patterns is designed. According to different environments, it can switch between the pure wheel pattern and the pure track one. According to a homogeneous coordinate transformation matrix, gravity stability and its obstacle performance .Its gravity equation and climbing obstacle conditions are established. Experimental results show that this hybrid mobile robot could fully possess the advantages of both the wheel and the track mechanisms and achieve a good obstacle climbing capability.