Design and analysis of a wheel-legged hybrid locomotion mechanism
A wheel-legged hybrid robot was put forward. First, the mechanical design of this chassis was introduced. Second, based on the kinematic analysis, comparison between the robot with the active transition system and that with the passive transition system was made. Third, the process of overcoming thr...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-11-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814015616908 |
| _version_ | 1818920719415771136 |
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| author | Change Zheng Jinhao Liu Tony E Grift Zichao Zhang Tao Sheng Jiangwenjie Zhou Yuliang Ma Ming Yin |
| author_facet | Change Zheng Jinhao Liu Tony E Grift Zichao Zhang Tao Sheng Jiangwenjie Zhou Yuliang Ma Ming Yin |
| author_sort | Change Zheng |
| collection | DOAJ |
| description | A wheel-legged hybrid robot was put forward. First, the mechanical design of this chassis was introduced. Second, based on the kinematic analysis, comparison between the robot with the active transition system and that with the passive transition system was made. Third, the process of overcoming three kinds of obstacles was simulated. Finally, the conclusion can be made that this hybrid locomotion mechanism with the active transition system has good performance on rough terrains. |
| first_indexed | 2024-12-20T01:26:13Z |
| format | Article |
| id | doaj.art-349bd5d100a841bb9229908b326b67a2 |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-20T01:26:13Z |
| publishDate | 2015-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-349bd5d100a841bb9229908b326b67a22022-12-21T19:58:14ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402015-11-01710.1177/168781401561690810.1177_1687814015616908Design and analysis of a wheel-legged hybrid locomotion mechanismChange Zheng0Jinhao Liu1Tony E Grift2Zichao Zhang3Tao Sheng4Jiangwenjie Zhou5Yuliang Ma6Ming Yin7School of Technology, Beijing Forestry University, Beijing, People’s Republic of ChinaSchool of Technology, Beijing Forestry University, Beijing, People’s Republic of ChinaDepartment of Agricultural and Biological Engineering, University of Illinois at Urbana—Champaign, Urbana, IL, USASchool of Technology, Beijing Forestry University, Beijing, People’s Republic of ChinaSchool of Technology, Beijing Forestry University, Beijing, People’s Republic of ChinaSchool of Technology, Beijing Forestry University, Beijing, People’s Republic of ChinaSchool of Technology, Beijing Forestry University, Beijing, People’s Republic of ChinaSchool of Technology, Beijing Forestry University, Beijing, People’s Republic of ChinaA wheel-legged hybrid robot was put forward. First, the mechanical design of this chassis was introduced. Second, based on the kinematic analysis, comparison between the robot with the active transition system and that with the passive transition system was made. Third, the process of overcoming three kinds of obstacles was simulated. Finally, the conclusion can be made that this hybrid locomotion mechanism with the active transition system has good performance on rough terrains.https://doi.org/10.1177/1687814015616908 |
| spellingShingle | Change Zheng Jinhao Liu Tony E Grift Zichao Zhang Tao Sheng Jiangwenjie Zhou Yuliang Ma Ming Yin Design and analysis of a wheel-legged hybrid locomotion mechanism Advances in Mechanical Engineering |
| title | Design and analysis of a wheel-legged hybrid locomotion mechanism |
| title_full | Design and analysis of a wheel-legged hybrid locomotion mechanism |
| title_fullStr | Design and analysis of a wheel-legged hybrid locomotion mechanism |
| title_full_unstemmed | Design and analysis of a wheel-legged hybrid locomotion mechanism |
| title_short | Design and analysis of a wheel-legged hybrid locomotion mechanism |
| title_sort | design and analysis of a wheel legged hybrid locomotion mechanism |
| url | https://doi.org/10.1177/1687814015616908 |
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