NDLI: Design of novel terrain adaptable cascading wheeled mobile platform with passive planetary swing structure

Content Provider	IEEE Xplore Digital Library
Author	Jianjun Yuan Weijun Zhang Yongtao Song Liang Du Feng Li
Copyright Year	2011
Description	Author affiliation: Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, No.800 Dongchuan Road, Shanghai, 200240, China (Jianjun Yuan; Weijun Zhang; Yongtao Song; Liang Du; Feng Li)
Abstract	This paper describes the design principle and detailed considerations for a new developed wheel type mobile platform. The vehicle is designed as one of the choices for real practical use such as rescue or public security purpose. The vehicle utilizes eight big wheels and installs them into two side rows. All the wheels are densely cascading assembled and are nearly half overlapping with each other. A new planetary swing wheel structure is utilized in this vehicle, as a result of which, the necessary actuators for 8 active wheels are reduced to four. The planetary swing structure adjusts the relative posture to the vehicle' chassis passively and automatically, according to the coming terrain situation, without using other mechanical swing structures or motion assistant mechanism. Mechanical discussion and analysis, such as the varieties of planetary swing structure, wheel distribution, are given in this paper. Also, in the later part, experimental tests are carried out to exam the traversing effect.
Starting Page	2580
Ending Page	2585
File Size	1895060
Page Count	6
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181693
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Vehicles Gears Force Sun Crawlers planetary swing mobile vehicle platform mechanical design
Content Type	Text
Resource Type	Article

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