Table 2 Symbol meaning.
From: Design and motion analysis of a coal mine robot with variable wheel diameter
Symbol | Meaning | Symbol | Meaning |
|---|---|---|---|
XOY | Geodetic coordinate system | vη | Robot η directional velocity |
ζ z η | Robot coordinate system | vζ | Robot ζ directional velocity |
oi | Driving wheel centre | ωz | Robot z-point angular velocity |
vi | Drive wheel η directional velocity | p | Robot centre Z in geodetic coordinates |
ωi | Angular speed of driving wheel | q | Robot centre Z in geodetic coordinates |
\(\vartheta\) | Angle between coordinate systems | k | Robot rotation centre |
D | Diagonal length of robot | δ | Diagonal angle |
R | Turning radius | ωk | Turning angular speed |
