Solving Kinematic and Dynamic Problems for a Three-Point Wheel-Legged Robot

A kinematic diagram and design of a three-point wheel-legged robot built in SolidWorks are presented in this paper. The robot’s possible motion techniques are outlined and the algorithm of motion in the walking mode is briefly described. Equations characterizing solutions for forward and inverse kinematic problems using transfer matrices built utilizing the Denavit–Hartenberg rules are formulated. Based on Newton–Euler equations and visco-elastic contact model between the robot’s legs and the ground, equations for solving inverse dynamic problems are obtained that describe the robot’s movement in the walking mode. Mathematical modeling of these equations in MATLAB using SimMechanics is performed. The modeling results, characterizing the solution of the inverse kinematic problem in terms of generalized coordinates and the solution of the inverse dynamic problem in terms of load torques in robot’s joints with known geometric and mass–inertia parameters and a given motion algorithm, are obtained and analyzed.

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