Kinematic Analysis and Design of a Two Body Articulated Robotic Vehicle

Abstract

The kinematic analysis and design of an articulated twin body, four-wheel, robotic vehicle is presented. The mobility of the vehicle is improved by connecting the two bodies with a four-bar linkage rather than the standard revolute-jointed body connection used in earlier designs. When properly proportioned, the new linkage design passively minimizes vehicle off-tracking by allowing the rear wheels to closely track the path of the front wheels. This significantly improves the ability of the vehicle to deal with cluttered environments. We outline the theoretical kinematic model of the four-bar linkage as applied to a twin-bodied, differentially driven vehicle. This model is validated through computer simulation as well as experimentation on a fully operational robotic vehicle. The kinematic model provides the foundation for an actively-controlled, linkage-based tracking system.