On study of a wheel-track transformation robot

Jianbing Hu, Ansi Peng, Y. Ou, Guolai Jiang
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引用次数: 6

Abstract

Wheeled robots usually move fast in relatively even surfaces while losing their major mobility on rough terrains. However, the tracked robots are superior to the wheel-types when they are to move on irregular terrains in spite of lower speed. In this paper, a Wheel-Track Transformation robot which combines the advantages of both mobile types by turning into wheel mode or track mode is designed. The robot consists of a robot platform equipped with an extra support mechanism, two wheels with transformation units and an universal wheel. Each transformation unit is composed of a rotating board and a double two-bar linkage mechanism. Three key mechanical components and several locomotion strategies on rough terrains are presented. Meanwhile, a detailed quasi-dynamic analysis is conducted to obtain proper torque capabilities of motors. Three prototypes of the proposed mechanism were manufactured and their fundamental mobility was evaluated by experiments.
轮轨变换机器人的研究
轮式机器人通常在相对平坦的地面上快速移动,而在崎岖的地形上失去其主要的机动性。然而,履带式机器人在不规则地形上移动时,尽管速度较低,但仍优于轮式机器人。本文设计了一种轮轨转换机器人,它结合了轮轨两种移动方式的优点,可以转换为轮轨模式或履带模式。该机器人由一个配有额外支撑机构的机器人平台、两个带变换单元的轮子和一个万向轮组成。每个变换单元由旋转板和双二杆联动机构组成。介绍了机器人在崎岖地形上的三个关键机械部件和几种运动策略。同时,对电机进行了详细的准动力学分析,以获得合适的转矩能力。制作了三种机构原型,并通过实验评估了它们的基本迁移率。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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