Kinematic and Dynamic Analysis of All-Terrain Wheeled Robot: Modeling and Simulation

This study presents the kinematic and dynamic analysis of a six-wheeled all-terrain robot designed for challenging environments such as rough terrains and slopes. Differentially controlled wheels and shock absorbers are also used in the robot's construction to give it high mobility and stability on the four surfaces. The first part of the project aimed at developing a SolidWorks 3D model of the robot, while the first element of design concentrated on engineering such structural parts of the robot as the chassis, the wheels, and the suspension system. After the design phase, the authors used simulations on ANSYS to perform kinematic and dynamic analyses and study the robot's operations under various conditions. These simulations checked the robot's stability, wheel traction, torque distribution, and the forces received by the robot during the movement, proving its ability to manage obstacles and travel through rough terrains. Moreover, measurements were made through calculations, which showed other essential factors like torque, the forces acting between the wheel and the terrain, energy consumption, and the load distributed over the wheels. The results from this study show the robot's capability to be used in disaster response, environment mapping, and surveillance in rugged areas. Besides the beneficial ability of simulations to reveal the details of the robot's operations on different terrains, the analytical results provide an excellent starting point for forthcoming design modifications in multi-terrain robots, with possible further improvements in adaptability and energy usage.