Development of a novel dual-motor driven wheel–foot transformation mechanism for wheel-biped robots

IF 3.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2026-04-01 Epub Date: 2026-01-23 DOI:10.1016/j.mechatronics.2026.103466

Jindai Zhang , Kangcheng Zhang , Jianlin Zhang , Xuechao Chen , Zhangguo Yu , Qiang Huang

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引用次数: 0

Abstract

Balancing mobility and adaptability in complex environments remains a major challenge for wheeled and biped robots, highlighting multi-modal actuation as a key research focus. This study proposes, designs, and experimentally validates a dual-motor wheel–foot transformation mechanism for wheel-biped robots, enabling both wheeled and legged locomotion. Guided by a “flip-deploy” design concept, the mechanism integrates a screw-nut drive, linkage system, and sliding block-slot mechanism in a coaxial dual-motor layout, achieving reliable bi-directional switching between wheeled and footed modes. The transmission relationships during the mechanism’s mode-switching process are analyzed, and the linkage lengths are optimized based on static force analysis in the footed mode. No-load, model validation and on-robot experiments demonstrate that the mechanism satisfies the design requirements, enabling stable, rapid, and robust posture transitions while exerting negligible influence on the robot’s overall posture stability. Overall, the proposed design makes it possible for wheel-biped robots to achieve multimodal locomotion and adapt to diverse terrains.

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一种新型双电机驱动轮式双足机器人轮足转换机构的研制

在复杂环境中平衡机动性和适应性是轮式和双足机器人面临的主要挑战，多模态驱动是一个重要的研究热点。本研究提出、设计并实验验证了一种用于轮式双足机器人的双电机轮足转换机构，实现轮式和腿式运动。该机构以“翻转部署”设计理念为指导，在同轴双电机布局中集成了螺杆螺母驱动、联动系统和滑块槽机构，实现了轮式和脚踏模式之间可靠的双向切换。分析了机构在模式切换过程中的传动关系，并基于足部静力分析优化了机构的连杆长度。空载、模型验证和机器人上实验表明，该机构满足设计要求，能够实现稳定、快速和稳健的姿态转换，同时对机器人整体姿态稳定性的影响可以忽略不计。总体而言，所提出的设计使轮式双足机器人实现多模式运动和适应不同的地形成为可能。

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

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.