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    Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms

    Source: Journal of Mechanisms and Robotics:;2024:;volume( 016 ):;issue: 008::page 81017-1
    Author:
    Du, Yuting
    ,
    Ruan, Qiang
    ,
    Yao, Yan-an
    DOI: 10.1115/1.4064741
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Inspired by lizards, a novel mobile platform with revolving linkage legs is proposed. The platform consists of four six-bar bipedal modules, and it is designed for heavy transportation on unstructured terrain. The platform possesses smooth-wheeled locomotion and obstacle-adaptive legged locomotion to enhance maneuverability. The kinematics of the six-bar bipedal modules is analyzed using the vector loop method, subsequently ascertaining the drive scheme. The foot trajectory compensation curve is generated using the fixed-axis rotation contour algorithm, which effectively reduces the centroid fluctuation and enables seamless switching between wheels and legs. When encountering obstacles, the revolving linkage legs act as climbing arms, facilitating seamless integration of wheel, foot, and arm. A physical prototype is developed to test the platform on three typical terrains: flat terrain, slope, and vertical obstacle. The experimental results demonstrated the feasibility of the platform structure. The platform can climb obstacles higher than its own height without adding extra actuation.
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      Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4303396
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    contributor authorDu, Yuting
    contributor authorRuan, Qiang
    contributor authorYao, Yan-an
    date accessioned2024-12-24T19:09:33Z
    date available2024-12-24T19:09:33Z
    date copyright3/20/2024 12:00:00 AM
    date issued2024
    identifier issn1942-4302
    identifier otherjmr_16_8_081017.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4303396
    description abstractInspired by lizards, a novel mobile platform with revolving linkage legs is proposed. The platform consists of four six-bar bipedal modules, and it is designed for heavy transportation on unstructured terrain. The platform possesses smooth-wheeled locomotion and obstacle-adaptive legged locomotion to enhance maneuverability. The kinematics of the six-bar bipedal modules is analyzed using the vector loop method, subsequently ascertaining the drive scheme. The foot trajectory compensation curve is generated using the fixed-axis rotation contour algorithm, which effectively reduces the centroid fluctuation and enables seamless switching between wheels and legs. When encountering obstacles, the revolving linkage legs act as climbing arms, facilitating seamless integration of wheel, foot, and arm. A physical prototype is developed to test the platform on three typical terrains: flat terrain, slope, and vertical obstacle. The experimental results demonstrated the feasibility of the platform structure. The platform can climb obstacles higher than its own height without adding extra actuation.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleIntegrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms
    typeJournal Paper
    journal volume16
    journal issue8
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4064741
    journal fristpage81017-1
    journal lastpage81017-13
    page13
    treeJournal of Mechanisms and Robotics:;2024:;volume( 016 ):;issue: 008
    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