Study on effects of nonholonomic constraints on dynamics of a new developed quadruped leg-wheeled passive mobile robot

A new passive wheel type leg-wheeled hybrid mobile robot based on surface motion principle was introduced. To produce the propulsion force, a passive wheel was installed at the end of the parallel mechanism structured leg connecting with the frame-body to make the wheel vertical to the ground at any time. With the inertia framework, the robot framework and some assumptions, two forms of Maggie Equation to model the nonholonomic constraint systems were derived from the Lagrangean Equation. To determine the effect of nonholonomic constraints on dynamics of the robot, the matrix method was used to calculate the Lagrangean multipliers together with the Routh Equation. Upon an Atmega8 MCU-based logic control system, the straightline skating experiments and the turning experiments were conducted with the prototype machine and effects of nonholonomic constraints were analyzed. Last, some conclusions were drawn. Key-Words: QLWIS robot, nonholonomic constraint, dynamic analysis, Maggie equation