Research of a Wheel-legged Obstacle Crossing Robot
To meet the requirement of mobile robots to achieve high mobility and strong obstacle-crossing in complex and variable environment, a design scheme of passive transformable wheel-legged obstacle-crossing robot is proposed. The transformable wheel conversion process of the robot is obtained by extern...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.019 |
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| _version_ | 1841546869400928256 |
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| author | Wang Yueqin Tan Xiaolan Ban Xiang Li Dingyu Yue Shidi |
| author_facet | Wang Yueqin Tan Xiaolan Ban Xiang Li Dingyu Yue Shidi |
| author_sort | Wang Yueqin |
| collection | DOAJ |
| description | To meet the requirement of mobile robots to achieve high mobility and strong obstacle-crossing in complex and variable environment, a design scheme of passive transformable wheel-legged obstacle-crossing robot is proposed. The transformable wheel conversion process of the robot is obtained by external force operation, so no additional driver is required, which reduces the complexity of the mechanism. Firstly, based on the three-dimensional modeling of the whole robot, the structure, principle and force of the transformable wheel are analyzed, and then the structure optimization is carried out by taking the ratio of the triggering torque during the transformation process and radius before and after unfolding as the index. Afterwards, the force condition during the transformable stage of the robot is analyzed and the relevant parameters of the robot platform are adjusted to achieve stable obstacle crossing. Finally, kinematics simulation of transformation and obstacle-crossing process of the robot is carried out by using the Adams software, physical prototype is made and rationality of the structure design of the whole machine is verified by experiment. |
| format | Article |
| id | doaj-art-0213c723ca8b40a7b3af73933e6ae68a |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-0213c723ca8b40a7b3af73933e6ae68a2025-01-10T15:02:04ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-01-014812813448025358Research of a Wheel-legged Obstacle Crossing RobotWang YueqinTan XiaolanBan XiangLi DingyuYue ShidiTo meet the requirement of mobile robots to achieve high mobility and strong obstacle-crossing in complex and variable environment, a design scheme of passive transformable wheel-legged obstacle-crossing robot is proposed. The transformable wheel conversion process of the robot is obtained by external force operation, so no additional driver is required, which reduces the complexity of the mechanism. Firstly, based on the three-dimensional modeling of the whole robot, the structure, principle and force of the transformable wheel are analyzed, and then the structure optimization is carried out by taking the ratio of the triggering torque during the transformation process and radius before and after unfolding as the index. Afterwards, the force condition during the transformable stage of the robot is analyzed and the relevant parameters of the robot platform are adjusted to achieve stable obstacle crossing. Finally, kinematics simulation of transformation and obstacle-crossing process of the robot is carried out by using the Adams software, physical prototype is made and rationality of the structure design of the whole machine is verified by experiment.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.019Mobile robotPassive transformationWheel-legged obstacle crossingAdams simulation |
| spellingShingle | Wang Yueqin Tan Xiaolan Ban Xiang Li Dingyu Yue Shidi Research of a Wheel-legged Obstacle Crossing Robot Jixie chuandong Mobile robot Passive transformation Wheel-legged obstacle crossing Adams simulation |
| title | Research of a Wheel-legged Obstacle Crossing Robot |
| title_full | Research of a Wheel-legged Obstacle Crossing Robot |
| title_fullStr | Research of a Wheel-legged Obstacle Crossing Robot |
| title_full_unstemmed | Research of a Wheel-legged Obstacle Crossing Robot |
| title_short | Research of a Wheel-legged Obstacle Crossing Robot |
| title_sort | research of a wheel legged obstacle crossing robot |
| topic | Mobile robot Passive transformation Wheel-legged obstacle crossing Adams simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.019 |
| work_keys_str_mv | AT wangyueqin researchofawheelleggedobstaclecrossingrobot AT tanxiaolan researchofawheelleggedobstaclecrossingrobot AT banxiang researchofawheelleggedobstaclecrossingrobot AT lidingyu researchofawheelleggedobstaclecrossingrobot AT yueshidi researchofawheelleggedobstaclecrossingrobot |