Analysis of terrain interaction with a wheel-track robot

Wenzeng Guo; Yubai Liu Di Teng; Xueshan Gao

doi:10.1109/ROBIO.2015.7419042

Analysis of terrain interaction with a wheel-track robot

Wenzeng Guo
, Yubai Liu Di Teng
, Xueshan Gao

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

According to the terrain features of irregular environment, a novel transformable wheel-track robot is designed. The robot can change the locomotion mode between track mode and wheel mode according to the irregular environment by transforming the track configuration. In this paper, two key mechanical points of the robot - retractable track and double four-bar linkage mechanism are emphasized. Then, the slope-climbing ability is compared between in the wheel mode and in the track mode. With the analysis of the track-terrain interaction, a wheel-track robot is developed. The track in contact with the terrain can be divided into three parts, namely, the front road wheel, the rear road wheel and the middle track. Using this model, we can analysis the robot locomotion performance, design motion system of the mobile robot.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1852-1857
Number of pages	6
ISBN (Electronic)	9781467396745
DOIs	https://doi.org/10.1109/ROBIO.2015.7419042
Publication status	Published - 2015
Event	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China Duration: 6 Dec 2015 → 9 Dec 2015

Publication series

Name	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Conference

Conference	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/Territory	China
City	Zhuhai
Period	6/12/15 → 9/12/15

Keywords

mechanical points
mobile robot
track terrain interaction mode
wheel-track

Access to Document

10.1109/ROBIO.2015.7419042

Cite this

Guo, W., Di Teng, Y. L., & Gao, X. (2015). Analysis of terrain interaction with a wheel-track robot. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 (pp. 1852-1857). Article 7419042 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2015.7419042

@inproceedings{f6245b330f5f4ccf99ea11d23cbb8cab,

title = "Analysis of terrain interaction with a wheel-track robot",

abstract = "According to the terrain features of irregular environment, a novel transformable wheel-track robot is designed. The robot can change the locomotion mode between track mode and wheel mode according to the irregular environment by transforming the track configuration. In this paper, two key mechanical points of the robot - retractable track and double four-bar linkage mechanism are emphasized. Then, the slope-climbing ability is compared between in the wheel mode and in the track mode. With the analysis of the track-terrain interaction, a wheel-track robot is developed. The track in contact with the terrain can be divided into three parts, namely, the front road wheel, the rear road wheel and the middle track. Using this model, we can analysis the robot locomotion performance, design motion system of the mobile robot.",

keywords = "mechanical points, mobile robot, track terrain interaction mode, wheel-track",

author = "Wenzeng Guo and \{Di Teng\}, \{Yubai Liu\} and Xueshan Gao",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 ; Conference date: 06-12-2015 Through 09-12-2015",

year = "2015",

doi = "10.1109/ROBIO.2015.7419042",

language = "English",

series = "2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1852--1857",

booktitle = "2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015",

address = "United States",

}

Guo, W, Di Teng, YL & Gao, X 2015, Analysis of terrain interaction with a wheel-track robot. in 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015., 7419042, 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Institute of Electrical and Electronics Engineers Inc., pp. 1852-1857, IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Zhuhai, China, 6/12/15. https://doi.org/10.1109/ROBIO.2015.7419042

Analysis of terrain interaction with a wheel-track robot. / Guo, Wenzeng; Di Teng, Yubai Liu; Gao, Xueshan.
2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1852-1857 7419042 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Analysis of terrain interaction with a wheel-track robot

AU - Guo, Wenzeng

AU - Di Teng, Yubai Liu

AU - Gao, Xueshan

PY - 2015

Y1 - 2015

N2 - According to the terrain features of irregular environment, a novel transformable wheel-track robot is designed. The robot can change the locomotion mode between track mode and wheel mode according to the irregular environment by transforming the track configuration. In this paper, two key mechanical points of the robot - retractable track and double four-bar linkage mechanism are emphasized. Then, the slope-climbing ability is compared between in the wheel mode and in the track mode. With the analysis of the track-terrain interaction, a wheel-track robot is developed. The track in contact with the terrain can be divided into three parts, namely, the front road wheel, the rear road wheel and the middle track. Using this model, we can analysis the robot locomotion performance, design motion system of the mobile robot.

AB - According to the terrain features of irregular environment, a novel transformable wheel-track robot is designed. The robot can change the locomotion mode between track mode and wheel mode according to the irregular environment by transforming the track configuration. In this paper, two key mechanical points of the robot - retractable track and double four-bar linkage mechanism are emphasized. Then, the slope-climbing ability is compared between in the wheel mode and in the track mode. With the analysis of the track-terrain interaction, a wheel-track robot is developed. The track in contact with the terrain can be divided into three parts, namely, the front road wheel, the rear road wheel and the middle track. Using this model, we can analysis the robot locomotion performance, design motion system of the mobile robot.

KW - mechanical points

KW - mobile robot

KW - track terrain interaction mode

KW - wheel-track

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DO - 10.1109/ROBIO.2015.7419042

M3 - Conference contribution

AN - SCOPUS:84964502134

T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

SP - 1852

EP - 1857

BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Y2 - 6 December 2015 through 9 December 2015

ER -

Analysis of terrain interaction with a wheel-track robot

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