A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage

Luo, Z, Shang, J, Wei, G ORCID: https://orcid.org/0000-0003-2613-902X and Ren, L 2018, 'A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage' , Mechanism and Machine Theory, 128 (10) , pp. 16-32.

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Abstract

This paper presents the design and development of a novel reconfigurable hybrid wheel-track mobile robot (RHMBot). This new reconfigurable mobile robot is constructed based on a Watt II six-bar linkage; through structure reconfiguration, it can provide three locomotion modes as wheel mode, tracked mode, and climbing and roll-over mode. Mechanical design of the proposed RHMBot is introduced, and using mechanism decomposition kinematics of the reconfigurable frame is investigated. Locomotion of the robot is then interpreted associated with transformation of the reconfigurable frame. Further, deformation of the deformable track belt is characterized and static analysis of the reconfigurable frame is accomplished. Numerical simulation of the proposed reconfigurable frame is subsequently implemented, integrated with driving-torque associated parametric study, leading to optimization of the structure parameters. Consequently, prototype of the proposed RHMBot is designed and developed; exploiting which a series of field tests are conducted verifying feasibility and manoeuvrability of the proposed multi-locomotion mobile robot.

Item Type: Article
Schools: Schools > School of Computing, Science and Engineering > Salford Innovation Research Centre
Journal or Publication Title: Mechanism and Machine Theory
Publisher: Elsevier
ISSN: 0094-114X
Related URLs:
Funders: NSFC
Depositing User: Dr Guowu Wei
Date Deposited: 20 Aug 2018 14:49
Last Modified: 04 Jun 2019 02:30
URI: http://usir.salford.ac.uk/id/eprint/48130

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