Modelling and simulation studies on the mobile robot with self-leveling chassis

Abstract

The mobile robot presented in the article is a hybrid system combining efficient travel on wheels on a flat terrain with the capability of surmounting obstacles by walking. The research is focused on designing a control system maintaining the robot chassis at a constant position to the ground. The aims of this research are: creation of the computational model of the control system for the levelling system of designed mobile robots and realization of simulation studies on the robots travel in terrain with obstacles. The simulations aimed at determination of basic dynamic and kinematic properties.

Simulation of motion of a mobile robot on uneven terrain

“…The described wheeled-legged robot in (Bałchanowski, 2016) consists of four identical limbs placed along the platform (Fig. 1a), where each of them ends with a driven wheel.…”

“…The dimensions of the limb were selected in such a way as to obtain a sufficiently large workspace ( Fig. 2a) (Sperzyński and Szrek, 2013;Bałchanowski, 2016). The s 1 actuator is responsible for changing the value of the angle θ 1 .…”

“…Furthermore, an active wheel suspension allows levelling of the platform. Wheeled-legged robots are a subject of research in many research centres all around the world (Bałchanowski, 2016;Grand et al, 2010;Ylönen and Halme, 2002).…”

“…At Wrocław University of Technology, a prototype of a wheeled-legged robot (Bałchanowski, 2016;Sperzyński and Szrek, 2013) was designed and built. It has a specific wheel suspension system which simplifies the levelling task.…”

“…It has a specific wheel suspension system which simplifies the levelling task. Simulation of robot movement has been a topic of the research for many years (Bałchanowski, 2016;Chakraborty and Ghosal, 2004;Sperzyński and Gronowicz, 2017). The paper presents the kinematical model of this mobile robot, allowing motion planning on uneven terrain.…”