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ЈD̖: TP242.1 īIRa A

Kinematic Analysis of Ice-Skater Robot

SONG Li-bo LÜ Tian-sheng ZHANG Jia-liang FEI Yan-qiong
(School of Mechanical Engineering of Shanghai Jiao Tong UniversityShanghai200030)

ABSTRACT A Ice-skater Robot of leg-wheel type is redesigned according to Roller-walker and ALDURO. On the basis of introduction of kinematic analysis methods, the paper founds the stationary coordinate system and the wheel coordinate system respectively. Meanwhile, the kinematic constraint equations of the standard centered orientable wheel is founded on the assumption that there is no slippage in normal direction and pure rolling in tangential direction of the wheels. Then, the kinematic model is modeled and the mobility is discussed in the paper. And the motion condition equation of the robot is gotten in sequence. Meanwhile, the paper designs the kinematic state space representation of the Ice-skater Robot. At last, the paper analyzes the kinematics of the Ice-skater Robot when it turns and skates forwards respectively. 
KEYWORDS Ice-skater RobotMobile robot,KinematicsState space 

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