TY - GEN
T1 - Mechanical Design of a Novel Reconfigurable Wheel-Legged Robot with Multiple Locomotion Modes
AU - Li, Zhengyi
AU - Kou, Shuwen
AU - Yue, Junchen
AU - Tian, Yaobin
AU - Xu, Kun
AU - Ding, Xilun
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2023
Y1 - 2023
N2 - The adaptability of a mobile robot in unstructured environments is one of the most important evaluation indicators. Wheeled locomotion has higher speed on flat ground, while legged mode is more suitable for complex terrain. Therefore, different design methods have been presented to improve the adaptability by combining legged and wheeled locomotion modes on a single robot. In this study, a novel wheel-legged robot is proposed based on a reconfigurable parallel mechanism. It is composed of an upper platform, a lower platform, and four reconfigurable branches. Each platform is constructed by a scissor mechanism. Each branch is constructed by an open chain mechanism, in which a wheel and a foot are connected to enhance locomotion capability of the robot. Based on reconfigurability of the parallel mechanism, the robot can transform among different topological structures to achieve wheeled or legged locomotion mode. The transformable strategy is further developed to choose different locomotion modes. Several simulation experiments will be carried out to verify the feasibility of the robot design.
AB - The adaptability of a mobile robot in unstructured environments is one of the most important evaluation indicators. Wheeled locomotion has higher speed on flat ground, while legged mode is more suitable for complex terrain. Therefore, different design methods have been presented to improve the adaptability by combining legged and wheeled locomotion modes on a single robot. In this study, a novel wheel-legged robot is proposed based on a reconfigurable parallel mechanism. It is composed of an upper platform, a lower platform, and four reconfigurable branches. Each platform is constructed by a scissor mechanism. Each branch is constructed by an open chain mechanism, in which a wheel and a foot are connected to enhance locomotion capability of the robot. Based on reconfigurability of the parallel mechanism, the robot can transform among different topological structures to achieve wheeled or legged locomotion mode. The transformable strategy is further developed to choose different locomotion modes. Several simulation experiments will be carried out to verify the feasibility of the robot design.
KW - Multiple locomotion modes
KW - Parallel mechanism
KW - Reconfigurable robot
KW - Wheel-legged robot
UR - https://www.scopus.com/pages/publications/85177592812
U2 - 10.1007/978-3-031-45770-8_49
DO - 10.1007/978-3-031-45770-8_49
M3 - 会议稿件
AN - SCOPUS:85177592812
SN - 9783031457692
T3 - Mechanisms and Machine Science
SP - 486
EP - 496
BT - Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2
A2 - Okada, Masafumi
PB - Springer Science and Business Media B.V.
T2 - 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
Y2 - 5 November 2023 through 9 November 2023
ER -