Kinetostatic Design Considerations for an Articulated Leg-Wheel Locomotion Subsystem

Jun, Seung Kook; White, Glenn D.; Krovi, Venkat

doi:10.1115/1.2168481

Cited by 16 publications

(5 citation statements)

References 3 publications

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“…We also add torsion springs at each joint to minimize/optimize the peak actuator torques by a suitable combination of structural equilibration design and spring assists. The formulation and simultaneous solution of the kinematic constraint and static equilibrium equations at the precision points aids the process of simultaneous determination of optimal mechanism and spring parameters [23].…”

Section: Kinetostatic Synthesismentioning

confidence: 99%

Design of articulated leg–wheel subsystem by kinetostatic optimization

Alamdari

Krovi

2016

Mechanism and Machine Theory

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High mobility, maneuverability and obstacle-surmounting capabilities are highly desirable features for rough-terrain locomotion systems. In this paper, we explore the use of various candidate articulated leg-wheel subsystem designs (based on the four-bar mechanism) to enhance locomotion capabilities of land-based vehicles. Multiple leg-wheel design parameters, such as kinematic link lengths and static spring stiffnesses and preloads, influence the overall locomotion performance. Appropriate selection can not only enhance the robot climbing performance but also reduce the wheel slip as well as the overall energy consumption. In particular, we aim to: (i) achieve the greatest motion-ranges between wheel-axle and chassis; as well as to (ii) reduce the overall actuation requirements by spring assist. Hence, we explore the use of systematic kinetostatic design approaches coupled with optimization to determine the parameters for alternate leg-wheel subsystem designs. Further, we also examine enhancement of uneven-terrain locomotion by varying subsystem parameters during the terrain traversal via a semi-active leg-wheel subsystem. Extensive simulation is then employed to evaluate the capabilities of these alternate articulated leg-wheel designs to surmount a predetermined/sensed terrain traversal profile while reducing actuation requirements.

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Section: Kinetostatic Synthesismentioning

confidence: 99%

Design of articulated leg–wheel subsystem by kinetostatic optimization

Alamdari

Krovi

2016

Mechanism and Machine Theory

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“…al. [9]. However, the exact motion of the jaw is not important as long as it is within the acceptability constraints, so it makes more sense to focus on the main goal of mass minimization rather than unnecessarily constrain the solution to approximate a particular jaw motion.…”

Section: Grid-search Analysismentioning

confidence: 99%

Topological Synthesis and Integrated Kinematic-Structural Dimensional Optimization of a Ten-Bar Linkage for a Hydraulic Rescue Spreader

Sullivan

Ven

2013

Volume 6A: 37th Mechanisms and Robotics Conference

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Hydraulic rescue spreaders are used by emergency response personnel to extricate occupants from a vehicle crash. A lighter and more portable rescue spreader is required for better usability and to enable utilization in a variety of scenarios. To meet this requirement, topological synthesis, dimensional synthesis, and an optimization were used to develop a solution linkage. The topological synthesis technique demonstrates that ten links are the minimum possible number that achieves the desired motion without depending primarily on rotation of the spreader jaws. A novel integrated kinematic-structural dimensional synthesis technique is presented and used in a grid-search optimizing the linkage dimensions to minimize linkage mass. The resulting ten-bar linkage meets or exceeds the kinematic performance parameters while simultaneously achieving a near-optimum predicted mass.

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“…[2][3][4][5] The wheel-legged type combines the advantages of both wheeled and legged chassis which is the most widely used in the uncertain surface now. [6][7][8][9] Wheel-legged locomotion systems such as Chariot III, 10 HyLoS series (four-legged robot), 11 NOROS series, 12 and ATHLETE (six-legged robot) [13][14][15] are applied in other fields. Compared with other wheellegged system, harvester chassis is different because of the articulated steering structure.…”

Section: Introductionmentioning

confidence: 99%

Dynamic research and analysis for a wheel-legged harvester chassis during tilting process

Liu

Sun

et al. 2019

Advances in Mechanical Engineering

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This article aims to analyze the dynamic tilting characteristics of a four-wheel-legged harvester chassis. In order to achieve the pose and position of the chassis, kinematic model of a four-wheel-legged harvester chassis was established by the screw theory method. After analyzing the actual motion of the chassis during tilting process, dynamic tilting model of the wheel-legged articulated steering chassis was achieved based on the Lagrange's equation. To prove the accuracy of the dynamic model, simulations of the chassis was conducted under ADAMS environment. Three series of comparisons showed that results between simulations and calculations were highly consistent. Both results showed that lifting the tilting side wheel-legs, shortening the other side legs, and steering to the tilting side could help prevent tilting of the chassis. Lifting the tilting side wheel-legs was proved to be more efficient than shortening that of the other sides. Average error of the change rates between simulations and calculations were 2.4%, 0.67%, and 2.75%.

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Kinetostatic Design Considerations for an Articulated Leg-Wheel Locomotion Subsystem

Cited by 16 publications

References 3 publications

Design of articulated leg–wheel subsystem by kinetostatic optimization

Design of articulated leg–wheel subsystem by kinetostatic optimization

Topological Synthesis and Integrated Kinematic-Structural Dimensional Optimization of a Ten-Bar Linkage for a Hydraulic Rescue Spreader

Dynamic research and analysis for a wheel-legged harvester chassis during tilting process

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