Here, the image and simple text introduced mobile robotics (Mobile Robot Locomotion) and compared the advantages and disadvantages of multiple structures.
Robotics
Motivation - Mechanism of Motion Usually - Factors Considering Wheels, Tracks or Legs - Topography, Mechanical Complexity and Control
Wheel: Differential Drive Features: Two Drivers One or Two Wheels for Balance Advantages: The agency is simple to turn only two motor disadvantages in one place: the difficulties encountered in rough ground: - use two Potential traction loss during universal wheel - easy to tip the speed and direction when using one universal wheel
Wheel - Synchronous Driver Features: All wheels are driven all wheels. You can manipulate advantages: through rotating wheels to four or more wheels can better adapt to rough road disadvantages: mechanical structure is complex every wheel can Manipulate and provide power. Control complex: - Many motors need to control - Where is the front?
Wheel Drive - Trunk Features: Only one motor is a motor (differential wheel in front wheel or through the back) a motor in front as a steering wheel advantage: easy control - driving and speed is not controlled - only two motor disadvantages: It is easy to turn over in an inaccessible road in a non-flat pavement. It is a bit complicated - there is a differential back there.
Wheel - Automotive Structure Features: As a motor - Only two motor disadvantages: it is not possible to turn the mechanical structure in place is a bit complicated - need to have a differential back to avoid slip - need to operate two front wheels
Tracked features: Separate two track advantages: can be rotated in the inausical road in an inailed road - stable - difficult to reach a high place - traction is good one or two motor disadvantages: can only slow down speed and direction Cannot control the frictional force, the energy loss is complex - can keep track tightening
Walking features: Multi-foot coordination action advantages: better in rough roads - good joint - stable - good traction: Cannot rotate slowly to control complexity - difficulty And the front / after moving each foot may require multiple motors here to use the pictures and simple text introduced robotics, in the next, we will cooperate with simple formulas, further introduce this aspect, please continue to pay attention, I hope you can provide relevant information.
Note: Original text from http://www.robotdiy.com/Article.php?sid=88
