Design and development of the hybrid mobile robots

Tătar, Mihai Olimpiu; Petre, Barbu; Teuţan, Emil

doi:10.1109/aqtr.2018.8402729

Cited by 2 publications

(4 citation statements)

References 10 publications

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“…The average grounding pressure of construction machinery is 30-70 kPa and the average grounding pressure p may be taken as 50 kPa. When fully loaded, the rear axle load W may be taken as 24,000 N. The coordinated variable triangular track is in the stretch state, and the grounding length L 0 ¼ 800 mm can be obtained from equation (3).…”

Section: Design Of Wheel-track Walking Mechanismmentioning

confidence: 99%

“…When fully loaded, the rear axle load W may be taken as 24,000 N. The coordinated variable triangular track is in the stretch state, and the grounding length L 0 ¼ 800 mm can be obtained from equation (3).…”

Section: Design Of Wheel-track Walking Mechanismmentioning

confidence: 99%

“…Legged walking mechanism has strong adaptability and obstacle resistance ability, but its structure is too complex, it has some shortcomings such as low moving efficiency and difficult control. [1][2][3] Wheeled walking mechanism has the advantages of strong bearing capacity, fast-moving speed, simple control, and flexible steering. However, when working in soft, muddy, snow, and other special terrain, the tire will sink and slip.…”

Section: Introductionmentioning

confidence: 99%

“…Tracked walking mechanism has strong obstacle-crossing performance, high passing performance, but its walking speed is slow, and the wear of track is serious when turning. [2][3][4] Compound walking mechanism has many sets of transmission systems, which are suitable for some special environments, but its structure and control are complex. [2][3][4][5][6] An underactuated variable structure crawler robot is designed in the study by Zhang et al, 7 which improves the obstacle surmounting performance of the crawler mechanism to a certain extent, but it does not solve the problems faced by the crawler mechanism.…”

Section: Introductionmentioning

confidence: 99%

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Design and kinematics analysis of coordinated variable wheel-track walking mechanism

Zang

Yang

et al. 2020

International Journal of Advanced Robotic Systems

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Wheeled walking mechanism has the advantages of high mobility and low rolling resistance, but it is easy to sink and slip when working in soft and muddy terrain. Tracked walking mechanism has the advantages of high passability and stability, but it has the problems of difficult steering and slow walking speed. In order to make the walking mechanism possess a combination of passability, stability, and mobility, a coordinated variable wheel-track walking mechanism was designed. The coordinated variable triangle track can change the landing area through the deformation structure to improve the ability of the walking mechanism to adapt to different terrains. The kinematics equation of the wheel-track walking mechanism was established, and the front wheel steering angle equation during motion was derived. Based on RecurDyn software, the motion simulation of the walking mechanism was carried out under the conditions of straight walking and turning on the flat ground, climbing hillsides, and crossing ditches. The simulation results show that the coordinated variable wheel-track walking mechanism has the mobility of wheeled walking mechanism and the passability and stability of the tracked walking mechanism. The stability and climbing ability of the wheel-track walking mechanism was better when the coordinated variable triangle track in the stretch state, and the mobility and steering ability was better in the contraction state.

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Section: Design Of Wheel-track Walking Mechanismmentioning

confidence: 99%

Section: Design Of Wheel-track Walking Mechanismmentioning

confidence: 99%