A kind of multistage transformable wheel for mobile robots

被引：0
|
作者：
Yang Y. [1 ]
Chang J. [1 ]
Guang C. [1 ]
Wang Y. [1 ]
机构：
[1] School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2018年 / 44卷 / 08期
关键词：
Linkage mechanism design; Obstacle navigation; Transformable wheel; Wheel design; Wheeled mobile robot;
D O I：
10.13700/j.bh.1001-5965.2017.0580
中图分类号：
学科分类号：
摘要：
The transformable wheel is an effective way to enhance the wheeled mobile robots' obstacle navigation ability in harsh terrain. However, traditional single-structure transformable wheels can only adapt to specific environment and unable to simultaneously satisfy the environments with varieties of harsh terrain. The four kinds of multistage transformable wheel were proposed, which combined a kind of planar polygon with round wheel type, expended wheel type and wheel-leg type structure. At the same time, four different structures' advantage and disadvantages were compared. Giving out the corresponding design method, the length of the linkage was also optimized to propose a better solution. Through the effective shifting between the structures depending on different terrain, wheeled mobile robots' obstacle navigation ability were improved while also the adaptability of different terrains were enhanced to broaden the versatility of the mechanism. © 2018, Editorial Board of JBUAA. All right reserved.
引用
收藏
页码：1712 / 1719
页数：7
相关论文
共 15 条
  • [1] Xu G.H., Tan M., The current situation and tendency of mobile robots, Robot Technique and Application, 3, pp. 7-14, (2001)
  • [2] Jiang H.B., Pan C.Y., Analysis of mobile robot based on planetary gear train and its characteristics, Machinery, 43, 12, pp. 11-13, (2005)
  • [3] Li S.L., Wei D.F., Gao F., Et al., The mechanisms and motion control of the terrain-adaptive walking wheel, Journal of Luoyang Institute of Technology, 16, 1, pp. 63-68, (1995)
  • [4] Deng Z.Q., Gao H.B., Hu M., Et al., Design of lunar rover with planetary wheel for surmount obstacle, Journal of Harbin Institute of Technology, 35, 2, pp. 203-206, (2003)
  • [5] Yue R.G., Wang S.P., Jiao Z.X., Et al., Design and performance simulation of a new type wheel with claws, Journal of Beijing University of Aeronautics and Astronautics, 33, 12, pp. 1408-1411, (2007)
  • [6] Horchler A.D., Quinn R.D., Lambrecht B., Et al., Highly mobile robots that run and jump
  • [7] Ge G.Y., Research on obstacle properties of smallrobot based on abnormal wheels, (2014)
  • [8] Chen D.X., Chen B.C., Zhang S.J., The principle of walking wheel mechanism, Transactions of the Chinese Society of Agricultural Engineering, 10, 2, pp. 123-129, (1994)
  • [9] Jones J.A., Inflatable robotics for planetary applications, Proceedings of 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space: A New Space Odyssey, pp. 1-6, (2001)
  • [10] Grand C., Bidaud P., Jarrass E.N., Innovative concept of unfoldable wheel with an active contact adaptation mechanism, Proceedings of 12th World Congress in Mechanism and Machine Science(IFToMM), pp. 1225-1232, (2007)
12