Motion Anisotropy Analysis of the Four Wheeled Mobile Robot

Abstract

The anisotropy of velocity and acceleration was analyzed in this paper based on the four wheeled mobile robot which composed of single row alternate wheels.Firstly, the kinematics equation of the mobile robot was derived, and the maximum velocity values in different directions were calculated. The simulation result was identical with the theoretical values by ADAMS software. Then, the dynamic equation of the mobile robot was established according to the Routh equation of nonlinear system. Finally, the acceleration value of the mobile robot was acquired by theelectrical sensor. The experimental result was in agreement with the theoretical values.