Design of LegVan Wheel-Legged Robot's Mechanical and Control System

被引：12

作者：

Gronowicz, A. ^{[1
]}

Szrek, J. ^{[1
]}

机构：

[1] Wroclaw Univ Technol, Div Machine Theory & Mechatron Syst, PL-50370 Wroclaw, Poland

来源：

SYROM 2009: PROCEEDINGS OF THE 10TH IFTOMM INTERNATIONAL SYMPOSIUM ON SCIENCE OF MECHANISMS AND MACHINES, 2009 | 2010年

关键词：

Control system; Geometry; Robot's Limb; Topology;

D O I：

10.1007/978-90-481-3522-6_11

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The wheel-legged robot is a vehicle with many degrees of freedom. Thanks to its peculiar design, depending on the need the vehicle will use one of its ways of moving: travelling on wheels or walking, which enhances its locomotive properties. This paper presents a novel solution of the wheel-legged robot equipped with special designed limb kinematic system. Moreover, an idea of the control system design is sketched and selected results of the tests carried out on the robot prototype are reported.

引用

页码：145 / +

页数：3