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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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