TY - GEN
T1 - Design of an Impact-resistant Elbow Mechanism for Wheel-legged Robot Crawling
AU - Ma, Xiaoshuai
AU - Gao, Junyao
AU - Qiu, Xuejian
AU - Zhao, Lingxuan
AU - Chen, Xuechao
AU - Yu, Zhangguo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Wheel-legged robots utilize their arms for efficient crawling in low and narrow passages. However, during the transition from standing to crawling motion mode, wheeled-legged robots, which are underactuated systems, are susceptible to falling and potential damage. Additionally, the elbow joint requires a high torque during robot crawling. Therefore, we designed an elbow mechanism driven by a linear actuator for BIT- W robot. The torque requirement of the elbow joint is analyzed by constructing a crawling model of the robot. Subsequently, a novel optimization method is proposed to enhance impact resistance by optimizing the mechanical parameters. Finally, The experiments conducted validate the elbow mechanism's capability to provide stable support for crawling and motion mode switching. Moreover, the impact mitigation factor (IMF) results substantiate the mechanism's effective enhancement of the arm's impact-resistant ability.
AB - Wheel-legged robots utilize their arms for efficient crawling in low and narrow passages. However, during the transition from standing to crawling motion mode, wheeled-legged robots, which are underactuated systems, are susceptible to falling and potential damage. Additionally, the elbow joint requires a high torque during robot crawling. Therefore, we designed an elbow mechanism driven by a linear actuator for BIT- W robot. The torque requirement of the elbow joint is analyzed by constructing a crawling model of the robot. Subsequently, a novel optimization method is proposed to enhance impact resistance by optimizing the mechanical parameters. Finally, The experiments conducted validate the elbow mechanism's capability to provide stable support for crawling and motion mode switching. Moreover, the impact mitigation factor (IMF) results substantiate the mechanism's effective enhancement of the arm's impact-resistant ability.
UR - http://www.scopus.com/inward/record.url?scp=85174154947&partnerID=8YFLogxK
U2 - 10.1109/WRCSARA60131.2023.10261839
DO - 10.1109/WRCSARA60131.2023.10261839
M3 - Conference contribution
AN - SCOPUS:85174154947
T3 - 2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023
SP - 520
EP - 525
BT - 2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023
Y2 - 19 August 2023
ER -