Moving anisotropy of four wheeled mobile robot
                                                                                 ZHOU Wei hua
                 （Automation Institute, Taizhou Vocational & Technical College, Taizhou 318000, China）

Abstract: Aiming at the moving anisotropy caused by the special structure of the mobile robot, the velocity and acceleration characteristic of the mobile robot were studied in all directions. According to the arrangement of four alternate wheels and Routh equation of nonlinear system, the kinematics and dynamic equations of the mobile robot were derived. The model of mobile robot in ADAMS software was established. An electric control system based on industrial control computer was set up. The acceleration value of the mobile robot was acquired by the acceleration sensor MPU6050. The result indicate that the simulation results are identical with the theoretical values by ADAMS software, and the experimental result accords with the values of theoretical calculation. The research results show the relationship between speed and acceleration of mobile robot with angle change.

Key words: mobile robot; kinematic; dynamics; moving anisotropy