Year: 2025
Type: article
Abstract: This paper presents a method for selecting the common dimensions of the limb mechanism of a wheel-legged mobile robot.A synthesis task was formulated that divided it into partial stages.The solution was searched using a genetic algorithm.This accelerated the dimension selection process.The algorithm operated on integers, which made it possible to establish the accuracy of the sought basic dimensions of the limb mechanism.The objective of the synthesis was achieved, obtaining the assumed characteristics of wheel movement using the available drives.Finally, further aspects of the design of the limb mechanism of the wheel-legged mobile robot which need to be studied are presented.
Authors: Przemysław Sperzyński, Jacek Bałchanowski
Institution: Wrocław University of Science and Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4409673003