Design of reconfigurable mechanism for underactuated robot in the grounded applications

In the robotic applications, wheel-legged robot provides many advantages such as lightweight, superior performance, low energy consumption and wide development prospects. Especially, in some emergent cases, it has ability to move flexibly, pass obstacles work both outdoor indoor environment. this paper, a novel design of platform for investigation is presented. Firstly, principle diagram underactuated (UR) outlined owing model inverted pendulum. Then, several theoretical computations are suggested ensure its desired control. Later, an overview mechanical 3D described well electrical circuit demonstrated based on these requirements. To validate feasibility effectiveness our approach, numerical simulations carried out.