Name
Abstract | ||
|---|---|---|
Wheeled robots usually move fast in relatively even surfaces while losing their major mobility on rough terrains. However, the tracked robots are superior to the wheel-types when they are to move on irregular terrains in spite of lower speed. In this paper, a Wheel-Track Transformation robot which combines the advantages of both mobile types by turning into wheel mode or track mode is designed. The robot consists of a robot platform equipped with an extra support mechanism, two wheels with transformation units and an universai wheel. Each transformation unit is composed of a rotating board and a double two-bar linkage mechanism. Three key mechanical components and several locomotion strategies on rough terrains are presented. Meanwhile, a detailed quasi-dynamic analysis is conducted to obtain proper torque capabilities of motors. Three prototypes of the proposed mechanism were manufactured and their fundamental mobility was evaluated by experiments. |
Year | Venue | Field |
|---|---|---|
2015 | 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | Robot control,Torque,Simulation,Terrain,Control engineering,Robot locomotion,Engineering,Robot,Mechanical components,Mobile robot |
DocType | Citations | PageRank |
Conference | 2 | 0.42 |
References | Authors | |
6 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jianbing Hu | 1 | 24 | 2.62 |
| Ansi Peng | 2 | 2 | 1.10 |
| Yongsheng Ou | 3 | 243 | 42.32 |
| Guolai Jiang | 4 | 31 | 3.55 |