Design of a Transformable Wheel-Leg Mobile Robot for Improved Mobility

被引：0
|
作者：
Oh, Sewoong [1 ]
Kim, Youngshik [1 ]
Joo, Hyunsoo [1 ]
Kim, Hyuntae [2 ]
Baek, Hangyeol [2 ]
机构：
[1] Hanbat Natl Univ, Dept Mech Engn, Daejeon, South Korea
[2] Hanbat Natl Univ, Dept Elect & Control Engn, Daejeon, South Korea
来源：
TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A | 2021年 / 45卷 / 03期
关键词：
Transformable Wheel-Leg; Obstacle Overcoming; Mobile Robot;
D O I：
10.3795/KSME-A.2021.45.3.193
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this study, we designed and fabricated a transformable wheel-leg robot that provides efficient mobility and obstacle overcoming under various structured and unstructured environments. The transformable wheel-leg is configured as a circular wheel on a flat surface and into the leg mode on rugged terrain for advanced mobility and terrain adaptability. Based on this goal, we analyzed the design parameters of the wheel-leg. A DC motor and gear mechanism were applied to realize transformation of the wheel and leg modes in the robot. Finally, experiments were performed to verify the improved obstacle overcoming capability.
引用
收藏
页码：193 / 200
页数：8
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