Design and Analysis of Transformable Wheel-legged Mobile Robot

Authors

  • Zhizhong Lv
  • Bao Yuan

DOI:

https://doi.org/10.54097/ajst.v4i2.3975

Keywords:

Mobile robot, Deformable wheel-leg mechanism, Link mechanism, Finite element analysis.

Abstract

Wheeled mobile robot has good ground motion ability, fast moving speed and low energy consumption, but poor obstacle surmounting performance. In order to make the mobile robot have the motion performance in complex environments, the wheel mechanism and the wheel-leg mechanism are coupled and designed, and a deformable wheel-leg structure is designed. The mobile robot can not only move in the wheel mode, but also switch to the wheel-leg mode to adapt to the complex motion environment. The deformable wheel-leg mechanism is composed of a four-bar linkage, and the static analysis of key components is carried out in ANSYS.

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References

Bai Long, Li Xingyu, Sun Yuanxi,et al. A Wheel-legged Mobile Robot with Adjustable Body Length for Rescue and Search[A]. 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)[C], Chongqing, China,2021.

Zheng Chuanqi, Lee Kiju. WheeLeR: Wheel-Leg Reconfigurable Mechanism with Passive Gears for Mobile Robot Applications[C], Proceedings - IEEE International Conference on Robotics and Automation;2019;P9292-9298.

Huan Sun, Zuomo Chen, Wenjie Ge, et al, Mechanical Principles 8th Edition [M], Higher Education Press, 2013, p123-128.

Kenjiro Tadakuma, Riichiro Tadakuma, et al. Mechanical design of the Wheel-Leg hybrid mobile robot to realize a large wheel diameter[A].2010 IEEE/RSJ International Conference on Intelligent Robots and Systems[C],2010

Shuwei Huang, Hongsong Cao, et al, Rapid Reconstrction Technology of ADAMS Dynamic Model Based on Parasolid and ADM Format[J], Journal of Ordnance Equipment Engineering, 2018,(3): 95-100.

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Published

04-01-2023

How to Cite

Lv, Z., & Yuan, B. (2023). Design and Analysis of Transformable Wheel-legged Mobile Robot . Academic Journal of Science and Technology, 4(2), 83–87. https://doi.org/10.54097/ajst.v4i2.3975

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Section

Articles