Design and analysis of a six-wheeled companion robot with mechanical obstacle-overcoming adaptivity

نویسندگان

چکیده

Abstract. A six-wheeled companion exploration robot with an adaptive climbing mechanism is proposed and released for the complicated terrain environment of planetary exploration. Benefiting from its three-rocker-arm structure, can adapt to complex six wheels in contact ground during locomotion, which improves stability robot. When moves on flat ground, it forward through rotation wheels. encounters obstacles process moving forward, front obstacle-crossing hold obstacle, rocker arms both sides rotate themselves mechanical adaptivity drive climb cross obstacle like crab legs. Furthermore, a parameterized geometric model established analyze motion performance To investigate feasibility correctness design theory scheme, group parameters are determined. prototype developed, experiment results show that maintain rugged environments has certain ability surmount obstacles.

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Backward and forward path following control of a wheeled robot

A wheeled mobile robot is one of the most important types of mobile robots. A subcategory of these robots is wheeled robots towing trailer(s). Motion control problem, especially in backward motion is one of the challenging research topics in this field. In this article, a control algorithm for path-following problem of a tractor-trailer system is provided, which at the same time provides the ab...

متن کامل

Vision Based Obstacle Detection Module for a Wheeled Mobile Robot

Navigation in mobile robotic ambit is a methodology that allows guiding a mobile robot (MR) to accomplish a mission through an environment with obstacles in a good and safe way, and it is one of themost challenging competence required of theMR. The success of this task requires a good coordination of the four main blocks involved in navigation: perception, localization, cognition, and motion co...

متن کامل

Design and Analysis of a Novel Tendon-less Backbone Robot

A new type of backbone robot is presented in this paper. The core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. Although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. This design does not suffer from the weaknesses of the continuum design suc...

متن کامل

‏‎a phonological contrastive analysis of kurdish and english‎‏

deposite the different criticisms on contrastive analysis it has been proved that the results of it(when processed)can be usuful in a tefl environment,specially at the level of phonology.this study is an attempt to compare and contrast the sound systems of kurdish and english for pedagogical aims. the consonants,vowels,stress and intonation of the twolanguages are described by the same model-ta...

15 صفحه اول

Design, Analysis and Control of a Wheeled Mobile Robot with a Nonholonomic Spherical CVT

This article reports on the design, analysis and control of a new type of wheeled mobile robot based on a nonholonomic spherical continuously variable transmission (S-CVT). Our S-CVT based mobile robot is designed to increase the run time (i.e., the length of time in which the robot can be operated), and to achieve full planar accessibility with the design of a novel pivoting device that takes ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Mechanical Sciences

سال: 2021

ISSN: ['2191-9151', '2191-916X']

DOI: https://doi.org/10.5194/ms-12-1115-2021