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In the paper, a mobile robot, which consists of a conventional four-wheel independent propulsion and individual steering system and a 5th steerable propulsive wheel, has been presented. The robot is able to achieve multiple prototypes with different wheelbase, wheel stance, clearance, and altitude of center of gravity by reconfiguration, and obtain diversified locomotive modes through the control...
In this paper, a universal kinematics model has been presented to a robot with four caster-cambered wheels. The effect toward the robot kinematics performance based on caster and camber has been analyzed. Closed-chain space and Instantaneous Superposition Frame (ISR) is used to build a 3-D kinematics model about differential suspension mobile robot with caster-cambered wheels by independent propulsion...
The maneuver control strategy of mobile robot with four steered independently driven wheels (4WS4WD) in rough terrain is rarely discussed. In this paper a approach of projection is adopted to get the equivalent maneuver radii and equivalent steering angles of a 4WS4WD mobile robot based on a arbitrary equivalent Instantaneous Center of Rotation-EICR, and the EICR is a vertical line on the plane of...
The tractor-model washing system is usually used in the technical process of maintenance for the vehicles in urban mass transit system and its efficiency is lower. On the basis of study and investigation, a self-traction model system has been developed. After a vehicle set is driven by its motors to go through the washing section and the trainset stopped at certain place, the mobile robotic platform...
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