NDLI: Development of a transformable wheel-track mobile robot and obstacle-crossing mode selection

Content Provider	IEEE Xplore Digital Library
Author	Wenzeng Guo Shigong Jiang Chengguo Zong Xueshan Gao
Copyright Year	2014
Description	Author affiliation: Intell. Robot Inst. of Beijing Inst. of Technol., Beijing, China (Wenzeng Guo; Shigong Jiang; Chengguo Zong; Xueshan Gao)
Abstract	According to the terrain features of irregular environment, a novel mobile mechanism of the transformable wheel-track robot is proposed. The robot can adapt to the irregular environment by transforming the track configuration. The robot mechanism consists of a control box, two symmetric transformable wheel-track units and a sub-arm equipped with a single-direction wheel. The wheel-track unit is composed of two walking gear rings, a double four-bar linkage mechanism and a retractable track. Driven by a servo motor, each wheel-track unit can change its locomotion mode according to the environment. In the paper, the system structure and key mechanical points-positioning method of double four-bar linkage mechanism and retractable track are presented. Meanwhile, the step-climbing ability is analyzed separately in wheel mode and track mode. The result shows that, the structure of the robot is reasonable, which can quickly switch between two modes. If the step height is no more than 80mm, the robot can cross in wheel mode, and in track mode to climb higher steps.
Starting Page	1703
Ending Page	1708
File Size	755415
Page Count	6
File Format	PDF
ISBN	9781479939787
e-ISBN	9781479939794
DOI	10.1109/ICMA.2014.6885957
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Wheels Gears Force Couplings Robot kinematics obstacle-crossing modes mobile robot wheel-track system design
Content Type	Text
Resource Type	Article

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