Structural Design and Simulation Analysis of Eight-wheeled Robot with Passive Swing Arm
In order to improve the terrain adaptability， obstacle-climbing capability and operability of wheeled mobile robots， an eight-wheeled robot with passive swing arms is designed. The articulated rocker arm can passively adapt to the change of the terrain and rotate relatively， and a flexible joint at...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.012 |
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| _version_ | 1841547387860942848 |
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| author | Yang Wulin Zhang Jing Zhang Junjun |
| author_facet | Yang Wulin Zhang Jing Zhang Junjun |
| author_sort | Yang Wulin |
| collection | DOAJ |
| description | In order to improve the terrain adaptability， obstacle-climbing capability and operability of wheeled mobile robots， an eight-wheeled robot with passive swing arms is designed. The articulated rocker arm can passively adapt to the change of the terrain and rotate relatively， and a flexible joint at the hinge point is introduced to generate a resistive torque， to improve the stability of the robot. The obstacle-climbing mechanism of this robot on vertical step is analyzed. The obstacle-climbing simulation is carried out by using the RecurDyn， the simulation results show that the robot can climb the vertical step beyond the diameter of the wheel. The feasibility of flexible joints is verified by simulation comparison experiments with and without flexible joints， and the optimal design parameters are obtained， a theoretical basis for the development of physical prototype is provided. |
| format | Article |
| id | doaj-art-1391bc6a6c804c10a529dc6deb9cc790 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-1391bc6a6c804c10a529dc6deb9cc7902025-01-10T14:44:13ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-03-0144727631441861Structural Design and Simulation Analysis of Eight-wheeled Robot with Passive Swing ArmYang WulinZhang JingZhang JunjunIn order to improve the terrain adaptability， obstacle-climbing capability and operability of wheeled mobile robots， an eight-wheeled robot with passive swing arms is designed. The articulated rocker arm can passively adapt to the change of the terrain and rotate relatively， and a flexible joint at the hinge point is introduced to generate a resistive torque， to improve the stability of the robot. The obstacle-climbing mechanism of this robot on vertical step is analyzed. The obstacle-climbing simulation is carried out by using the RecurDyn， the simulation results show that the robot can climb the vertical step beyond the diameter of the wheel. The feasibility of flexible joints is verified by simulation comparison experiments with and without flexible joints， and the optimal design parameters are obtained， a theoretical basis for the development of physical prototype is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.012Eight-wheeled robotObstacle-climbingStructural designSimulation analysis |
| spellingShingle | Yang Wulin Zhang Jing Zhang Junjun Structural Design and Simulation Analysis of Eight-wheeled Robot with Passive Swing Arm Jixie chuandong Eight-wheeled robot Obstacle-climbing Structural design Simulation analysis |
| title | Structural Design and Simulation Analysis of Eight-wheeled Robot with Passive Swing Arm |
| title_full | Structural Design and Simulation Analysis of Eight-wheeled Robot with Passive Swing Arm |
| title_fullStr | Structural Design and Simulation Analysis of Eight-wheeled Robot with Passive Swing Arm |
| title_full_unstemmed | Structural Design and Simulation Analysis of Eight-wheeled Robot with Passive Swing Arm |
| title_short | Structural Design and Simulation Analysis of Eight-wheeled Robot with Passive Swing Arm |
| title_sort | structural design and simulation analysis of eight wheeled robot with passive swing arm |
| topic | Eight-wheeled robot Obstacle-climbing Structural design Simulation analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.012 |
| work_keys_str_mv | AT yangwulin structuraldesignandsimulationanalysisofeightwheeledrobotwithpassiveswingarm AT zhangjing structuraldesignandsimulationanalysisofeightwheeledrobotwithpassiveswingarm AT zhangjunjun structuraldesignandsimulationanalysisofeightwheeledrobotwithpassiveswingarm |