TY - GEN
T1 - Analysis of terrain interaction with a wheel-track robot
AU - Guo, Wenzeng
AU - Di Teng, Yubai Liu
AU - Gao, Xueshan
N1 - Publisher Copyright:
© 2015 IEEE.
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
UR - https://www.scopus.com/pages/publications/84964502134
U2 - 10.1109/ROBIO.2015.7419042
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 - 2015 IEEE International Conference on Robotics and Biomimetics, ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -