Stability analysis of multi-legged wheel robot

Abstract

In order to improve the terrain adaptability of the multi-legged wheel robot, CG Projection Method is used to analyse the longitudinal and lateral static stability of the robot. Firstly, the longitudinal and the lateral static stability model of the robot are established in the paper. Secondly, based on the lateral and longitudinal stability model established above, the appropriate factors, including the length of the connecting arm of the robot, the body mass, the angle of the connecting arm and the distance between the two wheels, are selected for orthogonal test analysis. Finally, it is shown that: (1) the angle of connection arm, the body mass, the length of connection arm, the interaction between body mass and angle of connection arm, and the interaction between length of connection arm and angle of connection arm have significant effects on longitudinal stability; (2) the distance between the two wheels, the angle of the connecting arm, the body mass, the interaction between the body mass and the angle of the connecting arms, the interaction between the angle of the connecting arms and the distance between the two wheels, and the interaction between the body mass and the distance between the two wheels have significant effects on the lateral stability of the robot.