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Study on wheel-track robot with self-adaptive ability. (Chinese. English summary) Zbl 1389.68140

Summary: A concept of a wheel-track robot was proposed based on the mechanism of passive self-adaption. The wheel-track robot was formed with two parts, the body and two wheel-track units. The wheel-track unit was evolved from planer linkages with one degree of freedom and it has two locomotion modes which are driven by one servo system when they are confronted with different circumstances. After the kinetic analysis of the relations between the components, the mathematic model was established and the parametric optimization was also conducted. Then, the kinetic ability for slope-climbing and stair-climbing was analyzed. At last, the kinetic simulation of the robot was performed by using multi-rigid-body applications. The results of the simulation reveal the rationality of the original design and parameter configuration.

MSC:

68T40 Artificial intelligence for robotics
70B15 Kinematics of mechanisms and robots
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