Kinematic modelling and analysis of single leg in hybrid wheel-legged mobile robot

Abstract

Abstract Mobile manipulators are extensively used in various applications. Most of the mobile manipulators are built on a wheeled mobile platform. A wheeled mobile platform performs well on flat terrains but is not suitable for navigation in rough terrains. The legged robots are commonly used for rough terrain applications. However, the navigation speed of legged robots is lesser than wheeled mobile robots. This paper focuses on the development of hybrid wheellegged robots to overcome the above difficulties. The proposed model is quadruped with five degrees of freedom in each leg. The development of the kinematic model, its dimensional synthesis, and motion study for a single leg is presented in detail. DH-conventions are used for kinematic modelling, manipulability index is used for dimension synthesis, and motion study is carried out in ADAMS.