Design and Analysis of Deformable Wheeled Climbing Obstacle-surmounting Robot
In view of the difficult problem of robotic climbing,a new mobile system design plan of deformable wheel climbing obstacle-surmounting robot is proposed. According to the force analysis of the deformable wheels,the robot motion model is constructed and the model is solved by geometric relation. Comb...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.019 |
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| _version_ | 1841547387187757056 |
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| author | Wei Junying Yuan Yuan Fan Zhaojian |
| author_facet | Wei Junying Yuan Yuan Fan Zhaojian |
| author_sort | Wei Junying |
| collection | DOAJ |
| description | In view of the difficult problem of robotic climbing,a new mobile system design plan of deformable wheel climbing obstacle-surmounting robot is proposed. According to the force analysis of the deformable wheels,the robot motion model is constructed and the model is solved by geometric relation. Combining with the shape of the common obstacles,such as staircase,the comprehensive scale of the deformable wheel climbing obstacle-surmounting robot is analyzed. And the robot can realize the switch of the circle wheels and deformable wheels. Finally,a prototype test is made successfully. The result of the test shows that the deformable wheel of the robot has high motility and strong crossing obstacle ability,and the robot can adapt to a variety of complex road conditions. |
| format | Article |
| id | doaj-art-10bbd201bc4e4870981dd40feaabe339 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-10bbd201bc4e4870981dd40feaabe3392025-01-10T14:42:14ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142969929936537Design and Analysis of Deformable Wheeled Climbing Obstacle-surmounting RobotWei JunyingYuan YuanFan ZhaojianIn view of the difficult problem of robotic climbing,a new mobile system design plan of deformable wheel climbing obstacle-surmounting robot is proposed. According to the force analysis of the deformable wheels,the robot motion model is constructed and the model is solved by geometric relation. Combining with the shape of the common obstacles,such as staircase,the comprehensive scale of the deformable wheel climbing obstacle-surmounting robot is analyzed. And the robot can realize the switch of the circle wheels and deformable wheels. Finally,a prototype test is made successfully. The result of the test shows that the deformable wheel of the robot has high motility and strong crossing obstacle ability,and the robot can adapt to a variety of complex road conditions.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.019Deformation wheelObstacle-surmountingStairPrototype test |
| spellingShingle | Wei Junying Yuan Yuan Fan Zhaojian Design and Analysis of Deformable Wheeled Climbing Obstacle-surmounting Robot Jixie chuandong Deformation wheel Obstacle-surmounting Stair Prototype test |
| title | Design and Analysis of Deformable Wheeled Climbing Obstacle-surmounting Robot |
| title_full | Design and Analysis of Deformable Wheeled Climbing Obstacle-surmounting Robot |
| title_fullStr | Design and Analysis of Deformable Wheeled Climbing Obstacle-surmounting Robot |
| title_full_unstemmed | Design and Analysis of Deformable Wheeled Climbing Obstacle-surmounting Robot |
| title_short | Design and Analysis of Deformable Wheeled Climbing Obstacle-surmounting Robot |
| title_sort | design and analysis of deformable wheeled climbing obstacle surmounting robot |
| topic | Deformation wheel Obstacle-surmounting Stair Prototype test |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.019 |
| work_keys_str_mv | AT weijunying designandanalysisofdeformablewheeledclimbingobstaclesurmountingrobot AT yuanyuan designandanalysisofdeformablewheeledclimbingobstaclesurmountingrobot AT fanzhaojian designandanalysisofdeformablewheeledclimbingobstaclesurmountingrobot |