Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism
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Published:2023-01-05
Issue:1
Volume:14
Page:1-13
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ISSN:2191-916X
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Container-title:Mechanical Sciences
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language:en
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Short-container-title:Mech. Sci.
Author:
Zhang Minghui,Su Yiming
Abstract
Abstract. A new type of wheel–leg deformation mechanism, based on an
electromagnetic clutch and gear rack transmission mechanism, is designed.
This mechanism has a compact structure and simple operation, which can roll on wheels and surmount obstacles with a support leg. Firstly, the walking model is established to study the kinematics characteristics of the mechanism. The
alternation of the support legs does not affect smooth obstacle crossing,
but will cause the step change of the angular velocity of the centroid of
the main body. Secondly, the obstacle-surmounting performance of roll-over
mode and obstacle-crossing mode using support legs is analyzed. For roll-over mode, the maximum climbing height is 87.36 mm. For obstacle-crossing
mode using support legs, the maximum climbing height is the maximum
extension length of the support leg. According to the climbing height, the
switching criteria of different climbing modes are obtained. In addition,
the rolling angle of the main body has a greater impact on the support force and driving torque, while the contact angle between the legs and the ground has a small impact. Finally, the tipping stability and anti-interference ability of the wheel–leg deformation mechanism is evaluated using the stability cone method.
Publisher
Copernicus GmbH
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
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