Development of a dynamic model of the 11-linkage and closed-chain leg-wheel module
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Journal Volume
2022-July
ISBN
9781665413084
Date Issued
2022-01-01
Author(s)
Liu, Yu Ju
Abstract
We report on the development of a dynamic model of the complex 11-linkage and closed-chain leg-wheel module using a multibody dynamics method. This novel and hybrid mechanism has two degrees of freedom and is capable of transforming between wheeled mode and legged mode in less than 100 milliseconds. Having a dynamic model is the first step for monitoring or controlling the status of the module, and the ground reaction force is of particular interest because it determines the locomotion quality of the legged system. The performance of the model is compared with that of one derived using commercial software as a double check. In addition, the dynamic behavior of the model was further compared with that of the empirical leg-wheel module using a very dynamic leaping test. In the quasi-static validation, the percentage error between commercial software and the model is 2.76%. In the dynamic validation, the simulation and experiment show the same trend.
Subjects
ground reaction force | Leg-wheel module | modeling | multibody dynamics | Webots
SDGs
Type
conference paper