Steering performance analyses of a frog skating robot

The steering performances of the frog skating robot are studied by the equivalent swing arm method. Firstly, the influent factors of the steering radius of the frog skating robot are obtained directly by analyzing the intersection points of the axes among the front and passive wheels, and the research problem is put forward. Further, because of the motion characteristics of the frog skating robot arms swing inward, outward at the same time, or only one arm swings, from a kinematic point of view, the two arms can be replaced by an equivalent arm, which can avoid the uncertainties of the tilt axis deflection angles of the passive wheels that cause obstacles to the analyses of the steering radius of the front wheel, then the formula of the front wheel steering radius is given, and the three kinds of the turning modes and their corresponding minimum steering radius are furtherly researched. Finally, the experiments are presented to validate the method by validating the formula of the front wheel steering radius.