期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 25, 期 4, 页码 1980-1989出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.2992302
关键词
Wheels; Shape; Legged locomotion; Trajectory; Shafts; Angled spoke-based wheel; bevel gear; continuous obstacle; obstacle overcoming; tilted driving shaft; wheel posture; wheel trajectory
类别
资金
- National Research Foundation of Korea (NRF) - Ministry of Science and ICT [NRF-2018M3C1B9088328, 2018M3C1B9088331, 2018M3C1B9088332]
This article introduces a new mobile robot with angled spoke-based wheels (ASWs). An ASW is designed by analyzing the combination of the assembling angle with the spokes and the assembling angle with the wheel shaft. It has a specific trajectory in which the spokes are perpendicular to and parallel to the ground simultaneously. Therefore, this wheel is in contact with the ground similar to a conventional wheel, but the wheel trajectory does not exceed the height of the spoke length. Therefore, the robot offers an advantage in that various devices can be freely installed on its upper part. Owing to the geometrical features of the wheel, the wheel shaft is assembled at an angle of 45 degrees on the chassis, and 90 degrees-bevel gears are used to maximize space efficiency. The robot is 85-mm long and weighs 208 g. Using the proposed spoke wheel, the robot can travel on carpet at a sustained speed of 18 body-lengths per second. With regard to overcoming obstacles, the robot can overcome a height of 0.7 times the spoke length. Moreover, it can climb continuous obstacles having a staircase angle of 37.5 degrees and overcome an irregular shape and an arbitrarily formed height of obstacles like a tangled rope. It was also confirmed that the robot could carry the same weight as its own without any significant drop in speed.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据