Mechanical properties of modern wheeled mobile robots

Abstract

The paper discusses mechanical properties of modern wheeled mobile robots including aspects of kinematics and dynamics. Relevant features of these robots and of used types of wheels are considered. Robots are categorized into six groups according to kinematic structures, which can be obtained using various types of wheels. For each group mechanical properties, which characterize the robots are discussed. Various variants of the robots within particular groups are described and some examples of existing solutions are given. Individual variants of the robots are compared and assessed taking into account the possessed features.