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Analysis of Kinematics and Dynamic Model and Structure Optimization of Wheeled Robot

Kinematics and dynamic model are the foundation for system design and performance analysis, and are also the guarantee of controller practicability. The Kinematics and dynamic model of three-wheeled robot with two wheels driving are established in this paper. Three wheeled supporting structure is simple, but stability is relatively poor. So on two aspects structure optimization of the robot is completed to ensure support stability and movement flexibility.