Study on Deformation Mechanism and Design of Wheel-tracked Reconfigurable Robots
Aiming at the application requirements on a variety of complex roads and based on the biological metamorphosis mechanism，a wheel-tracked reconfigurable robot is proposed. The robot includes two motion modes，namely wheel mode and crawler mode. By switching between the two modes，the adaptability of th...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.07.003 |
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| Summary: | Aiming at the application requirements on a variety of complex roads and based on the biological metamorphosis mechanism，a wheel-tracked reconfigurable robot is proposed. The robot includes two motion modes，namely wheel mode and crawler mode. By switching between the two modes，the adaptability of the robot on multiple ground features can be significantly improved. The study of switching mechanism and transmission principle is carried out. The changing trend of the contact width is analyzed to obtain a maximum value of 230.36 mm in crawler mode. The robot's ability to overcome obstacles in wheel and crawler modes is calculated separately，and the trend of the robot's center of gravity position during obstacle-crossing is analyzed through simulation software. Finally，a prototype of the robot is developed by integrating the power system. Wooden boards and hollow bricks with different heights as experimental platforms are used to test the robot's mode-switch and obstacle crossing ability in groups. The experimental results show the maximum obstacle crossing heights in wheel and crawler modes are 98.5 mm and 290 mm which are consistent with the theoretical value. In addition，the robot can flexibly switch between wheel mode and crawler modes，which has the ability to adapt to a variety of complex roads. |
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| ISSN: | 1004-2539 |