Design of multimodal transformable wheels for amphibious robotic vehicles

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical Pub Date : 2024-10-03 DOI:10.1016/j.sna.2024.115952

Zhangyuan Wang , Bing Luo , Weicheng Cui , Wei Li

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引用次数: 0

Abstract

Amphibious vehicles are versatile for locomotion on both water and land; to reduce the complexities of structure and control, an amphibious vehicle is expected to use a single propulsion system without additional screw propellers or water jets; as vehicles are typically driven by wheels that are efficient for smooth land locomotion, how to make the wheels also as water propellors for multimodal transformations is meaningful, while such wheels are less explored. From this motivation, in this short article, we report the design of a multimodal transformable wheel with three driving modes (wheel mode, forward-propellor mode, and backward-propellor mode) and the integrated mode-locks for each driving mode. To achieve the multimodal transformations of the wheel, we design the integrated mode-transform mechanism and mode-lock mechanism, the two mechanical implementations are driven by only two actuators and are compact with low inertia and low control complexity, with the kinematic properties provided during the wheel transformations.

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为两栖机器人车辆设计多模式可变换车轮

水陆两栖车辆是在水上和陆地上行驶的多功能车辆；为了降低结构和控制的复杂性，水陆两栖车辆应使用单一的推进系统，而不需要额外的螺旋推进器或喷水装置；由于车辆通常由车轮驱动，而车轮在平稳的陆地行驶中效率很高，因此如何使车轮也能作为水上推进器进行多模式转换是很有意义的，而对这种车轮的探索较少。基于这一动机，我们在这篇短文中报告了一种具有三种驱动模式（车轮模式、前进推进器模式和后退推进器模式）的多模态可变换车轮的设计，以及每种驱动模式的集成模式锁。为了实现车轮的多模态变换，我们设计了集成模式变换机构和模式锁定机构，这两种机械实现方式仅由两个执行器驱动，结构紧凑，惯性小，控制复杂度低，在车轮变换过程中提供了运动学特性。

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

Sensors and Actuators A-physical 工程技术-工程：电子与电气

CiteScore

8.10

自引率

6.50%

发文量

630

审稿时长

49 days

期刊介绍： Sensors and Actuators A: Physical brings together multidisciplinary interests in one journal entirely devoted to disseminating information on all aspects of research and development of solid-state devices for transducing physical signals. Sensors and Actuators A: Physical regularly publishes original papers, letters to the Editors and from time to time invited review articles within the following device areas: • Fundamentals and Physics, such as: classification of effects, physical effects, measurement theory, modelling of sensors, measurement standards, measurement errors, units and constants, time and frequency measurement. Modeling papers should bring new modeling techniques to the field and be supported by experimental results. • Materials and their Processing, such as: piezoelectric materials, polymers, metal oxides, III-V and II-VI semiconductors, thick and thin films, optical glass fibres, amorphous, polycrystalline and monocrystalline silicon. • Optoelectronic sensors, such as: photovoltaic diodes, photoconductors, photodiodes, phototransistors, positron-sensitive photodetectors, optoisolators, photodiode arrays, charge-coupled devices, light-emitting diodes, injection lasers and liquid-crystal displays. • Mechanical sensors, such as: metallic, thin-film and semiconductor strain gauges, diffused silicon pressure sensors, silicon accelerometers, solid-state displacement transducers, piezo junction devices, piezoelectric field-effect transducers (PiFETs), tunnel-diode strain sensors, surface acoustic wave devices, silicon micromechanical switches, solid-state flow meters and electronic flow controllers. Etc...