Study of machine design for a transformable shape single-tracked vehicle system

Kim, Jeehong; Lee, Changgoo; Kim, Gunho

doi:10.1016/j.mechmachtheory.2010.03.013

Cited by 21 publications

(13 citation statements)

References 1 publication

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“…We model the robot as a cylindrical body (length l of 188 mm and diameter d of 80 mm), as suggested by Bennet–Clark and used for locusts. Assuming the flight direction in line with the body axis, a take‐off angle α of 30°, a friction coefficient cd of 1.3, and an air density ρ of 1.2 kg/m 3 [7], the equation can be expressed as

\ddot{x} false(t false) = - 2.65 \times 10^{- 3} \cdot (][, {\dot{x}}^{2} false(t false) + {\dot{y}}^{2} false(t false))

\ddot{y} false(t false) = - 24.06 - 2.34 \times 10^{- 3} \cdot (][, {\dot{x}}^{2} false(t false) + {\dot{y}}^{2} false(t false))

If making

false[x false(t false) false]^{2} + false[\ddot{y} false(t false) false]^{2}

, then equation can be converted to:

a^{2} = 9.37 \times 10^{- 6} \cdot false(v_{0} false)^{4} + 0.015 \cdot false(v_{0} false)^{2} + 24.06

when v 0 = 5.59 m/s, the acceleration a is equal to 4.9 m/s 2 .…”

Section: Methodsmentioning

confidence: 99%

Structure design of a miniature and jumping robot for search and rescue

Yang

2018

J. eng.

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\ddot{x} false(t false) = - 2.65 \times 10^{- 3} \cdot (][, {\dot{x}}^{2} false(t false) + {\dot{y}}^{2} false(t false))

\ddot{y} false(t false) = - 24.06 - 2.34 \times 10^{- 3} \cdot (][, {\dot{x}}^{2} false(t false) + {\dot{y}}^{2} false(t false))

If making

false[x false(t false) false]^{2} + false[\ddot{y} false(t false) false]^{2}

, then equation can be converted to:

a^{2} = 9.37 \times 10^{- 6} \cdot false(v_{0} false)^{4} + 0.015 \cdot false(v_{0} false)^{2} + 24.06

when v 0 = 5.59 m/s, the acceleration a is equal to 4.9 m/s 2 .…”

Section: Methodsmentioning

confidence: 99%

Structure design of a miniature and jumping robot for search and rescue

Yang

2018

J. eng.

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“…As such, it can not only work with lower height in a narrow space, but also can adjust its height to climb the obstacles. In this way, the mobile robot's defect of poor adaptation to environment on the ground can be overcome [2][3][4][5].…”

Section: Design Requirements On Performance Of the Inspection Robotmentioning

confidence: 99%

Design and Mechanics Analysis of Moving Mechanism of Inspection Robot for Thin Coal Seam

Shang¹,

Zhao²,

Fan³

2015

TOMSJ

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The inspection robot for thin coal seam can replace workers to make the daily inspection in fully mechanized mining surface. Based on the narrow and poor environment of thin coal seam, we designed a joint swing arm inspection robot, which is able to adapt to the unstructured terrain in a thin coal seam. The structure of the moving mechanism of the inspection robot has been designed. It can be realized that there are two DOF for moving on a single drive central axis through design of the shaft inside and shaft sleeve outside. The strength check and the modal analysis of the key parts of the moving mechanism such as the hollow shaft sleeve and the drive shaft, are made by Ansys Workbench. According to the analysis results, the maximum stress caused by internal load and external impact load is far less than the yield strength of the material. The modal shape diagram shows that, when the meshing frequency and the external excitation frequency are much less than the first-order natural frequency of the parts, there will be no resonance and noise. The analysis results show that the design is reasonable and reliable.

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“…e vehicle has superior steering efficiency and omnidirectional motion ability on uneven terrains. A study of machine design for a transformable shape tracked vehicle system was presented by Kim et al [9]. Utilization of a variety of shapes provided enhanced ability to surmount obstacles.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of Steering and Lifting Mechanisms for Forestry Vehicle Chassis

Kang

2020

Mathematical Problems in Engineering

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Due to its special topographical structure, the forest working environment requires a vehicle chassis that can adapt well to complex terrain conditions. This article describes the key components of a chassis that was designed to adapt to complex terrain. The working principle and structural design of the steering structure and the lifting structure are analyzed in detail, and function verification is carried out. The steering mechanism has three degrees of freedom, and the first degree of freedom reduces the body’s inclination by 30°. The second degree of freedom can increase the steering angle of the chassis to 47°, decreasing the turning radius of the chassis. The third degree of freedom reduces the body rollover inclination by 30°. The entire steering mechanism enhances the ride and stability of the chassis. With the lifting mechanism, the wheel-legs are lifted so that the chassis can pass a limit height of 187 mm, and the wheel-legs are lowered to raise the center of gravity of the vehicle chassis by 244 mm. The entire lifting mechanism greatly improves the vehicle's ability to cross forest terrain. The size is reduced by 10% compared to other structures, and the lifting height and obstacle resistance are improved by 12.7%.

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Study of machine design for a transformable shape single-tracked vehicle system

Cited by 21 publications

References 1 publication

Structure design of a miniature and jumping robot for search and rescue

Structure design of a miniature and jumping robot for search and rescue

Design and Mechanics Analysis of Moving Mechanism of Inspection Robot for Thin Coal Seam

Design and Analysis of Steering and Lifting Mechanisms for Forestry Vehicle Chassis

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