Abstract
Kinematic analysis is carried out for the structure of the swing-arm tracked mobile chassis. Forward and reverse kinematic analysis and modeling are performed for the most important over-barrier motion of the mobile chassis, which is to go over steps as an example. It is analyzed that the coordinates of the center of mass of the mobile chassis and the coordinates of the end of the swing arm are related to the time, the angle of the swing arm and the angle of the body to the horizontal during the process of overstepping. The research results can provide theoretical support for the motion capability of the swing arm tracked robot.
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Acknowledgement
This study was co-supported by the National Natural Science Foundation of China (Grant No.62206027, Grant No. 52175019), Beijing Natural Science Foundation (Grant No. 3212009, Grant No. L222038), the Science and Technology Nova Plan of Beijing City (Grant No.Z201100006820122), Xiaomi Foundation / Xiaomi Young Talents Program, the Open Project of the Key Laboratory of Modern Measurement and Control Technology of the Ministry of Education (Grant No.KF20221123201).
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Wang, S., Hong, Y., Li, F., Li, D. (2023). Kinematic Analysis of Overrunning on a Swing Arm Tracked Mobile Chassis. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14275. Springer, Singapore. https://doi.org/10.1007/978-981-99-6504-5_5
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DOI: https://doi.org/10.1007/978-981-99-6504-5_5
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