RESEARCH PAPER
Type Synthesis, Modelling and Analysis of the Manipulator for Wheel-Legged Robot
1
Faculty of Mechanical Engineering, Department of Biomedical Engineering, Mechatronics and Theory of Mechanisms, Wroclaw University of Technology, Wybrzeże Wyspiańskiego 27, 50-370 Wrocław, Poland
Submission date: 2014-12-11
Acceptance date: 2016-03-21
Online publication date: 2016-06-08
Publication date: 2016-06-01
Acta Mechanica et Automatica 2016;10(2):87-91
KEYWORDS
ABSTRACT
The aim of this article is to present the concept of wheel-legged mobile manipulator, which is a combination of mobile platform with specially selected suspension system and a manipulator. First, a literature review was performed and own solution proposed. The kinematic structure of manipulator, selected simulation results, physical model and the concept of the control system has been presented. Geometry synthesis was used to design basic dimension. Structural synthesis was performed according to the intermediate chain method. Simulations were performed using the multibody dynamics simulation software. New approach in the field of the mobile manipulators was presented as a result.
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| eISSN: | 2300-5319 |
| ISSN: | 1898-4088 |
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