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The purpose of this paper was to solve the shortage of carrying energy in probing robot and make full use of wind resources in the Antarctic expedition by designing a four-wheel land-yacht. Land-yacht is a new kind of mobile robot powered by the wind using a sail. The mathematical model and trajectory of the land-yacht are presented in this paper.

The mechanism analysis method and experimental modeling method are used to establish a dual-input and dual-output mathematical model for the motion of land-yacht. First, the land-yacht’s model structure is obtained by using mechanism analysis. Then, the models of steering gear, servomotors and force of wing sail are analyzed and validated. Finally, the motion of land-yacht is simulated according to the mathematical model.

The mathematical model is used to analyze linear motion and steering motion. Compared with the simulation results and the actual experimental tests, the feasibility and reliability of the proposed land-yacht modeling are verified. It can travel according to the given signal.

This land-yacht can be used in the Antarctic, outer planet or for harsh environment exploration.

A land-yacht is designed, and the contribution of this research is the development of a mathematical model for land-yacht robot. It provides a theoretical basis for analysis of the land-yacht’s motion.