A multimodal hybrid robot with transformable wheels

Zhou, Faliang; Xu, Xiaojun; Xu, Hui; Zhang, Xiang

doi:10.1109/rcar.2017.8311849

Cited by 6 publications

(4 citation statements)

References 13 publications

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“…The detailed design process is presented in our previously published paper. 34 β 0 = 0 • represents that the telescopic spoke is also coincided with the major axis of the deformable rim. Therefore, the telescopic spoke is coaxial with the track wheel frame (see Fig.…”

Section: Experiments Results and Discussionmentioning

confidence: 99%

Implementation of a Reconfigurable Robot to Achieve Multimodal Locomotion Based on Three Rules of Configuration

Zhou¹,

Xu²,

Xu³

et al. 2019

Robotica

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SUMMARYIn this paper, we focus on the configuration design of a reconfigurable robot that merges the functions of wheels, tracks, and legs together. A deformable rim is utilized to make the robot wheel reconfigurable to change its locomotion mode. Three rules of configuration design to achieve reconfiguration between different modes are proposed: (1) in wheel mode, the track wheel set should be hidden inside the wheel rim; (2) in track/leg mode, the folded wheel rim should be hidden inside the caterpillar loop; (3) the circumference of the wheel rim in wheel mode should be equal to the length of the track ring in track mode. According to these rules, the configuration of the deformable rim, track wheel set, and telescopic spoke are analyzed and designed. A prototype of the reconfigurable wheel is fabricated by three-dimensional printing, and its functions of locomotion in different modes, the switch between different modes, and its load-bearing ability are tested, verifying the effectiveness of the configuration design. Furthermore, a prototype of the reconfigurable robot is manufactured by computerized numerical control (CNC) machining to verify the structural design of the reconfigurable wheel. Compared to traditional hybrid robots with separate wheels, tracks, and legs, this reconfigurable design lends the multimodal robot both excellent terrain adaptability and a compact structure; thus, it can be widely used as a universal mobile platform in search and rescue missions and explosive object disposal missions.

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Section: Experiments Results and Discussionmentioning

confidence: 99%

Implementation of a Reconfigurable Robot to Achieve Multimodal Locomotion Based on Three Rules of Configuration

Zhou¹,

Xu²,

Xu³

et al. 2019

Robotica

Self Cite

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“…The robot will take care about yourself for safely locomotion. There is also other application, where the intelligent properties of products help to prevent the collisions or other accidents [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17].…”

Section: Resultsmentioning

confidence: 99%

“…CCD camera (3) is placed on the top of the robot for visual feedback for teleoperation controlling. Communication unit for wireless teleoperation control (4) is also installed on the robot body. Robot is powered by the two batteries placed in back side of the robot body.…”

Section: Overall Design Of the Robotmentioning

confidence: 99%

Adaptable Mobile Robot for Rough Terrain

Kelemen¹,

Filakovský²,

Ferenčík³

2019

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The paper deals with didactic model of mobile four wheeled robot which is able to adapt to rough terrain. The geometry of undercarriage can be changed in accordance with rough terrain. Mechanism for change of chassis clearance is placed in robot body. In case of very rough terrain with large irregularities, the robot can lift own body as prevention of collision with ground. In case when it moves on inclined plane, it can move down own body as prevention before the side overturning.

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“…In other cases, the tracks can be transformed into wheels changing their outer shape by means of tensioning systems, exploiting the tracks elasticity [33,34]; the transformation of tracks into wheels can also be achieved by adopting complex articulated supports for the tracks [35].…”

Section: Introductionmentioning

confidence: 99%

Functional Design of a Hybrid Leg-Wheel-Track Ground Mobile Robot

et al. 2021

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This paper presents the conceptual and functional design of a novel hybrid leg-wheel-track ground mobile robot for surveillance and inspection, named WheTLHLoc (Wheel-Track-Leg Hybrid Locomotion). The aim of the work is the development of a general-purpose platform capable of combining tracked locomotion on irregular and yielding terrains, wheeled locomotion with high energy efficiency on flat and compact grounds, and stair climbing/descent ability. The architecture of the hybrid locomotion system is firstly outlined, then the validation of its stair climbing maneuver capabilities by means of multibody simulation is presented. The embodiment design and the internal mechanical layout are then discussed.

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A multimodal hybrid robot with transformable wheels

Cited by 6 publications

References 13 publications

Implementation of a Reconfigurable Robot to Achieve Multimodal Locomotion Based on Three Rules of Configuration

Implementation of a Reconfigurable Robot to Achieve Multimodal Locomotion Based on Three Rules of Configuration

Adaptable Mobile Robot for Rough Terrain

Functional Design of a Hybrid Leg-Wheel-Track Ground Mobile Robot

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