Development of a novel quadruped hybrid wheeled-legged mobile robot with telescopic legs

IF 1.8 4区工程技术 Q3 ENGINEERING, MECHANICAL

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science Pub Date : 2024-08-16 DOI:10.1177/09544062241271624

Shuaiby Mohamed, YoungWoo Im, HyeonSang Shin, Youngshik Kim, Buhyun Shin

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Abstract

This paper presents a novel design of a quadruped hybrid leg-wheel mobile robot comprising two DOFs (a prismatic joint and a revolute joint) for the legs and one rotational joint for the wheel. The study begins by detailing the design of the structure and mechanism of the proposed system. We created the dynamic model of the proposed robot using MATLAB Simscape Multibody. The legged mode gait is developed using three supporting legs and one transferring leg. We developed a walking algorithm for the quadruped robot that comprises six motion steps. The simulation and experimental results demonstrate that our proposed robot has the ability to successfully traverse both flat surfaces and rough terrain. The robot’s design also enables it to perform various modes of movement, including normal vertical and horizontal driving, rotation around the robot’s centre of gravity, rotation in a large arc, and walking on flat terrain.

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开发新型带伸缩腿的四足混合轮腿移动机器人

本文介绍了一种新颖的四足腿轮混合移动机器人的设计，包括腿部的两个 DOF（一个棱柱关节和一个旋回关节）和轮子的一个旋转关节。本研究首先详细介绍了拟议系统的结构和机构设计。我们使用 MATLAB Simscape Multibody 创建了拟议机器人的动态模型。使用三条支撑腿和一条转移腿开发了腿模式步态。我们为四足机器人开发了一种包含六个运动步骤的行走算法。仿真和实验结果表明，我们提出的机器人既能在平坦表面上行走，也能在崎岖地形上行走。机器人的设计还使其能够执行各种运动模式，包括正常的垂直和水平行驶、围绕机器人重心旋转、大弧度旋转以及在平坦地形上行走。

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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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 工程技术-工程：机械

CiteScore

3.80

自引率

10.00%

发文量

625

审稿时长

4.3 months

期刊介绍： The Journal of Mechanical Engineering Science advances the understanding of both the fundamentals of engineering science and its application to the solution of challenges and problems in engineering.