Design and Research of Cushioning Mechanism of Wheeled Mobile Robot

摘要

A design scheme for cushioning mechanism of wheeled mobile robot considering varying load, varying acceleration, off-centered load, structure errors and ground effecting factors synthetically is presented, which ensures the actuating reliability of actuator and cushioning ability of robot, and solves the problem of moving precision coming with various uncertain factors under real environment to some extent, and it has been applied in the cushioning mechanism of a prototype robot.