Design of A Novel Wheel-Legged Robot with Rim Shape Changeable Wheels

作     者：Ze Fu Hao Xu Yinghui Li Weizhong Guo Ze Fu;Hao Xu;Yinghui Li;Weizhong Guo

作者机构：State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghai 200240China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2023年第36卷第6期

页      面：62-72页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Supported by State Key Lab of Mechanical System and Vibration Project of China(Grant No.MSVZD202008) 

主　　题：Mobile platform Transformable wheel-legged robot Kinematics analysis Mechanical design Obstacle 

摘      要：The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough ***,most of the wheel-legged robots only have one-directional obstacle-crossing *** the motion,most of the wheel-legged robots’centroid fluctuates violently,which damages the stability of the ***’s more,many designs of the obstacle-crossing part and transformation-driving part of this structure are highly coupled,which limits its optimal performance in both *** paper presents a novel wheel-legged robot with a rim-shaped changeable wheel,which has a bi-directional and smooth obstacle-crossing *** on the kinematic model,the geometric parameters of the wheel structure and the design variables of the driving four-bar mechanism are optimized *** kinetostatics model of the mobile platform when climbing stairs is established to determine the body length and angular velocity of the driving wheels.A pro-totype is made according to the optimal *** show that the prototype installed with the novel transformable wheels can overcome steps with a height of 1.52 times of its wheel radius with less fluctuation of its centroid and performs good locomotion capabilities in different environments.