Design and Kinematics Analysis of Wheel-leg Hybrid Robot with Four-legs
According to the problem that the wheeled robots have poor ability to adapt terrain,and the legged robot moving speed is limited,a wheel-leg hybrid robot with four-legs is designed,which can both crawl and roll.And the robot is driven by steel wire rope with torsional spring scheme to realize switch...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.01.041 |
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| _version_ | 1841548184606736384 |
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| author | Zheng Hui Wang Min Wang Xinjie Wang Caidong |
| author_facet | Zheng Hui Wang Min Wang Xinjie Wang Caidong |
| author_sort | Zheng Hui |
| collection | DOAJ |
| description | According to the problem that the wheeled robots have poor ability to adapt terrain,and the legged robot moving speed is limited,a wheel-leg hybrid robot with four-legs is designed,which can both crawl and roll.And the robot is driven by steel wire rope with torsional spring scheme to realize switching function of working manner.In the overall design of the robot,the legs are detailed designed.The kinematic equation of standing leg is established by the D-H method,and the correctness of the kinematic equations is verified by Geometric method.The swinging leg motion space is obtained by MATLAB software.And the ability of the robot obstacle is analyzed. |
| format | Article |
| id | doaj-art-02a93bd9c4d442d3be0e0f1a735e5d37 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-02a93bd9c4d442d3be0e0f1a735e5d372025-01-10T14:12:40ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139576129914540Design and Kinematics Analysis of Wheel-leg Hybrid Robot with Four-legsZheng HuiWang MinWang XinjieWang CaidongAccording to the problem that the wheeled robots have poor ability to adapt terrain,and the legged robot moving speed is limited,a wheel-leg hybrid robot with four-legs is designed,which can both crawl and roll.And the robot is driven by steel wire rope with torsional spring scheme to realize switching function of working manner.In the overall design of the robot,the legs are detailed designed.The kinematic equation of standing leg is established by the D-H method,and the correctness of the kinematic equations is verified by Geometric method.The swinging leg motion space is obtained by MATLAB software.And the ability of the robot obstacle is analyzed.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.01.041Wheel-leg hybridRobot with four-legsKinematic modelMotion space |
| spellingShingle | Zheng Hui Wang Min Wang Xinjie Wang Caidong Design and Kinematics Analysis of Wheel-leg Hybrid Robot with Four-legs Jixie chuandong Wheel-leg hybrid Robot with four-legs Kinematic model Motion space |
| title | Design and Kinematics Analysis of Wheel-leg Hybrid Robot with Four-legs |
| title_full | Design and Kinematics Analysis of Wheel-leg Hybrid Robot with Four-legs |
| title_fullStr | Design and Kinematics Analysis of Wheel-leg Hybrid Robot with Four-legs |
| title_full_unstemmed | Design and Kinematics Analysis of Wheel-leg Hybrid Robot with Four-legs |
| title_short | Design and Kinematics Analysis of Wheel-leg Hybrid Robot with Four-legs |
| title_sort | design and kinematics analysis of wheel leg hybrid robot with four legs |
| topic | Wheel-leg hybrid Robot with four-legs Kinematic model Motion space |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.01.041 |
| work_keys_str_mv | AT zhenghui designandkinematicsanalysisofwheelleghybridrobotwithfourlegs AT wangmin designandkinematicsanalysisofwheelleghybridrobotwithfourlegs AT wangxinjie designandkinematicsanalysisofwheelleghybridrobotwithfourlegs AT wangcaidong designandkinematicsanalysisofwheelleghybridrobotwithfourlegs |