ResumenEn este documento se presenta una familia de mecanismos de dos grados de libertad para implementar ruedas híbridas de geometría variable. Estos mecanismos son capaces de transformar una rueda circular en una rueda híbrida con múltiples piernas desplegables. En este trabajo se describen los principales atributos y ventajas de los mecanismos, a los cuales nombramos Ruedas HeIse. Además, se definen diversos términos y conceptos relativos al modelado matemático de dichos dispositivos. La familia de mecanismos consiste de 14 diseños originales, los cuales representan una solución solida al problema de trasformación rueda-rueda híbrida.
AbstractThis paper presents a family of mechanisms of two degrees of freedom for implementing variable geometry hybrid wheels. These mechanisms are capable of transforming a circular wheel into a hybrid wheel with multiple legs. In this paper we describe the main attributes and advantages of these mechanisms, which we named HeIse Wheels. In addition, various terms and concepts related to the mathematical modeling of these devices are defined. The family of mechanisms consists of 14 original designs, which represent a sound solution to the problem of wheel-hybrid wheel transformation.
In this paper, the kinematic analysis of a series of variable geometry legged wheels is presented. These mechanisms can transform a circular wheel into a hybrid legged wheel in order to combine the efficiency and ability to traverse difficult terrain of each method of locomotion. The inverse and direct kinematic problems of position and velocity are stated and solved. Then, a singularity analysis of the mechanisms is performed. The geometrical conditions that make the Jacobian matrices of the wheels singular are determined and interpreted. Subsequently, an exploration of the workspace is presented to show kinematic features of the wheels inside their operation region.
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