Theoretical Study of s Kinematic Characteristics for a Hybrid Mobile Robot

Abstract

The research presents a theoretical study of the kinematic characteristics for a hybrid mobile robot. The robot consists of a set of parallel and chain links, resulting in a hybrid mechanism consisting of a mobile platform for movement and a gambit arm for manipulation. Mobile robotics designs mostly consist of a separate platform and processor installed on top of the mobile platform, and this design has the potency to provide simultaneous movement, processing, and exchange.

A mathematical model of a 8-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic, and drive levels.