Author:
Zhou Pengfei,Tang Shufeng,Liu Yubin,Zhao Jie,Sun Zaiyong
Abstract
Purpose
This study aims to the complex and unpredictable terrain environment of the Qinghai-Tibet Plateau scientific research station, such as cement road, wetland, gravel desert, snowfield, ice surface, grassland, slimy ground, steep slope, step, etc., a reconfigurable walking mechanism based on two movement modes of wheel and triangular crawler was proposed.
Design/methodology/approach
By analyzing the deformation mechanism of the walking mechanism, a reconfigurable wheel-crawler-integrated walking mechanism and the configuration scheme are designed. The analysis of the kinematics and mechanical properties of the swing arm system and the deformation mechanism of the walking mechanism.
Findings
The reconfigurable wheel-crawler-integrated walking mechanism can be switched between the wheel and triangular crawler modes by driving the deformation mechanism. Through the numerical simulation of its movement process, and the trial production and experiment of the prototype, indicates the validity of the reconfigurable wheel-crawler-integrated walking mechanism design.
Originality/value
The work of this paper provides a reconfigurable wheel-crawler-integrated-walking mechanism, which can be used by robots in the Qinghai-Tibet Plateau scientific research station. It has excellent reconfigurability and can effectively improve the robot’s adaptability to complex terrain.
Subject
Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering
Reference24 articles.
1. The OmniTread serpentine robot for industrial inspection and surveillance;Industrial Robot: An International Journal,2019
2. An optional passive/active transformable wheel-legged mobility concept for search and rescue robots;Robotics and Autonomous Systems,2018
3. ChinaDaily (2008), “British experts say robot warfare will become a reality within 10 years”, available at: www.chinadaily.com.cn/hqgj/2008-02/28/content_6490252.htm (accessed: 28 February 2008).
4. Machine design of a re-configurable wheel-track hybrid mobile robot with multi-locomotion, Harbin gongye daxue xuebao;Journal of Harbin Institute of Technology,2018
5. Mechanical design of multi-movement dynamic reconfigurable wheeled and tracked composite robot;Journal of Harbin Institute of Technology,2018