Kinematics Modeling and Analyses of an Articulated Robot

In this paper, we propose a mathematical model for the kinematics of an articulated robot, called 2DWAR. The wheeled robot has two bodies joined by a 2 DOF hinge assembly. This robot can reshape its articulated frame to perform the excellent mobile stability when it runs in the rough-terrain. For the unique 2 DOF articulated frame, we propose the new concept of correlative stability. Based on the proposed model, the correlative stability angle of the robot is developed using multi-body kinematics and dynamic energy stability method. Equations are implemented in an algorithm used to study the kinematics of the articulated robot.