A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage

Luo, Zirong; Shang, Jianzhong; Wei, Guowu; Ren, Lei

doi:10.1016/j.mechmachtheory.2018.04.020

Cited by 52 publications

(23 citation statements)

References 14 publications

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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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Section: Introductionmentioning

confidence: 99%

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

et al. 2021

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“…However, the area coverage performance of floor cleaning robots with a fixed morphology is limited in typical indoor environments due to the inclusion of objects with complex shapes such as furniture. It has been proven that a robot's ability to reconfiguration is highly beneficial in accessing narrow and confined spaces in other application domains such as rescue and exploration [19][20][21]. Similarly, self-reconfigurable robots have been introduced to cope with the area coverage problem faced by robots with fixed morphologies [22].…”

Section: Introductionmentioning

confidence: 99%

Toward Pleomorphic Reconfigurable Robots for Optimum Coverage

et al. 2021

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Buildings are constructed for accommodating living and industrial needs. Floor cleaning robots have been developed to cater to the demand of these buildings. Area coverage and coverage time are crucial performance factors of a floor cleaning robot. Reconfigurable tiling robots have been introduced over fixed shape robots to improve area coverage in floor cleaning applications compared to robots with fixed morphologies. However, area coverage and coverage time of a tiling robot compromised one another. This study proposes a novel concept that considers the ability of a tiling robot to configure both its morphology and size according to the environment. This concept is inspired by the pleomorphism that could be seen in bacteria. In this regard, P-hTetro, a pleomorphic tiling robot that can reconfigure its morphology and size, is considered. A novel coverage strategy for realizing the size reconfiguration is also proposed. According to this strategy, the robot covers obstacle-free areas with its maximum size, while an obstacle cluster is covered after shrinking to an optimum size. The optimum size for reconfiguration is determined by the genetic algorithm based on the arrangement of the environment. The performance and behavior of the proposed P-hTetro have been compared against that of an existing tiling robot which has a fixed size. According to the statistical outcomes, a tiling robot with the ability to reconfigure its size can significantly improve the performance in the aspects of area coverage and coverage time compared to a tiling robot with no ability to reconfigure its size.

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“…It is obvious that a robot with a constant chassis lacks adaptation to the unstructured environment to access and perform the tasks. Luo et al 10 presented the design and development of a novel reconfigurable hybrid wheel-tracked mobile robot that can provide three locomotion modes-wheel mode, tracked mode, and climbing and rollover mode-through structure reconfiguration. A kind of robot can rely on both wheels and legs to achieve its mobility, such as a wheel-legged robot.…”

Section: Introductionmentioning

confidence: 99%

Design and control of a variable structure robot

Zhao

Song

2020

International Journal of Advanced Robotic Systems

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Because wheeled mobile robots have so many applications in warehouse logistics, improving their ability to adapt to the environment has been the subject of extensive research. To enhance the traffic and obstacle avoidance capabilities of wheeled robots, a wheeled mobile robot with a transformable chassis is proposed in this article for use in an automated warehouse. The robot can not only move in all directions but also change its chassis structure according to the specific warehouse environment. First, the robot structure is designed, and the motion modes of the robot are analyzed. After kinematics analysis is performed, a kinematics model is presented. In addition, with the goal of trajectory tracking and indoor positioning, a sliding mode controller and an extended Kalman filter controller are designed. Then, the effectiveness of the kinematics model and the controller design is verified by computer simulation. Finally, a physical prototype of the robot is built and the effectiveness of the robot is demonstrated through experiments.

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A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage

Cited by 52 publications

References 14 publications

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

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

Toward Pleomorphic Reconfigurable Robots for Optimum Coverage

Design and control of a variable structure robot

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