Kinematic modelling and analysis of single leg in hybrid wheel-legged mobile robot

Mobile manipulators are extensively used in various applications. Most of the mobile built on a wheeled platform. A platform performs well flat terrains but is not suitable for navigation rough terrains. The legged robots commonly terrain However, speed lesser than robots. This paper focuses development hybrid wheellegged to overcome above difficulties. proposed model quadruped with five degrees freedom each leg. kinematic model, its dimensional synthesis, and motion study single leg presented detail. DH-conventions modelling, manipulability index dimension carried out ADAMS.