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    Design and Analysis of a Sixteen-Legged Vehicle With Reconfigurable Close-Chain Leg Mechanisms

    Source: Journal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 005::page 55001
    Author:
    Wu, Jianxu
    ,
    Yao, Yan-an
    ,
    Li, Yibin
    ,
    Wang, Sen
    ,
    Ruan, Qiang
    DOI: 10.1115/1.4044003
    Publisher: American Society of Mechanical Engineers (ASME)
    Abstract: In order to exert the advantages of simplified control and integral rigidity, a novel 16-legged walking vehicle is proposed as a carrying platform based on closed-chain mechanisms. Considering the demand for mobility of one degree-of-freedom leg mechanism, we adopt the reconfigurable approach for trajectory flexibility. Serving as a walking module, the whole close-chain leg mechanism is designed to construct the walking vehicle. On the basis of kinematic analysis and sensitivity analysis, the reconfigurable leg with “gluteus maximus” is presented for increasing the obstacle-surmounting ability. In terms of the whole vehicle, the reconfiguration assignments and strategies are analyzed to satisfy the different climbing requirements. The obstacle-climbing capabilities of the legged units are evaluated through the probability analysis. In slope-climbing process, the supporting and the propelling regions for reconfiguration are discussed and obtained with two decision conditions. A series of dynamic simulations and experiments are performed to testify the walking stability, the walking speed, the steering performance, the terrain adaptability, and the obstacle-surmounting capability.
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      Design and Analysis of a Sixteen-Legged Vehicle With Reconfigurable Close-Chain Leg Mechanisms

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4258279
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    contributor authorWu, Jianxu
    contributor authorYao, Yan-an
    contributor authorLi, Yibin
    contributor authorWang, Sen
    contributor authorRuan, Qiang
    date accessioned2019-09-18T09:03:05Z
    date available2019-09-18T09:03:05Z
    date copyright7/8/2019 12:00:00 AM
    date issued2019
    identifier issn1942-4302
    identifier otherjmr_11_5_055001
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4258279
    description abstractIn order to exert the advantages of simplified control and integral rigidity, a novel 16-legged walking vehicle is proposed as a carrying platform based on closed-chain mechanisms. Considering the demand for mobility of one degree-of-freedom leg mechanism, we adopt the reconfigurable approach for trajectory flexibility. Serving as a walking module, the whole close-chain leg mechanism is designed to construct the walking vehicle. On the basis of kinematic analysis and sensitivity analysis, the reconfigurable leg with “gluteus maximus” is presented for increasing the obstacle-surmounting ability. In terms of the whole vehicle, the reconfiguration assignments and strategies are analyzed to satisfy the different climbing requirements. The obstacle-climbing capabilities of the legged units are evaluated through the probability analysis. In slope-climbing process, the supporting and the propelling regions for reconfiguration are discussed and obtained with two decision conditions. A series of dynamic simulations and experiments are performed to testify the walking stability, the walking speed, the steering performance, the terrain adaptability, and the obstacle-surmounting capability.
    publisherAmerican Society of Mechanical Engineers (ASME)
    titleDesign and Analysis of a Sixteen-Legged Vehicle With Reconfigurable Close-Chain Leg Mechanisms
    typeJournal Paper
    journal volume11
    journal issue5
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4044003
    journal fristpage55001
    journal lastpage055001-15
    treeJournal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 005
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian