Design and analysis of a multi-mode mobile robot based on a parallel mechanism with branch variation

2018 ◽  
Vol 130 ◽  
pp. 276-300 ◽  
Author(s):  
Yezhuo Li ◽  
Yan-an Yao ◽  
Yanying He
Keyword(s):  
Mobile Robot ◽  
Parallel Mechanism ◽  
Multi Mode

Dynamic model of spherical parallel mechanism for wheel-leg hybrid mobile robot

2019 ◽  
Vol 27 (8) ◽  
pp. 1800-1810
Author(s):  
陈 原 CHEN Yuan ◽  
何淑垒 HE Shu-lei ◽  
姜 媛 JIANG Yuan ◽  
桑董辉 SANG Dong-hui ◽  
宁淑荣 NING Shu-rong
Keyword(s):  
Mobile Robot ◽  
Dynamic Model ◽  
Parallel Mechanism ◽  
Spherical Parallel Mechanism

scholarly journals Study on Roller-Walker – Multi-mode Steering Control and Self-Contained Locomotion –

2000 ◽  
Vol 12 (5) ◽  
pp. 559-566 ◽  
Author(s):  
Gen Endo ◽  
◽  
Shigeo Hirose
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Constant Velocity ◽  
Control Method ◽  
Light Weight ◽  
Steering Control ◽  
Rugged Terrain ◽  
Hybrid Function ◽  
And Control ◽  
Multi Mode

We have proposed a new leg-wheel hybrid mobile robot named ""Roller-Walker"". Roller-Walker is a vehicle with a special foot mechanism, which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by roller-skating using the passive wheels. The characteristics of Roller-Walker are: 1) it has a hybrid function but it is light-weight, 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-wolfing is fully investigated in the future. In this paper, the 4 leg trajectory of straight Roller-Walk is optimized in order to achieve maximum constant velocity. Also steering roller-walk control method is proposed. It is obtained by the expansion of the straight roller-walk trajectory theory adding an offset to the swinging motion. This steering method resembles that of a car. The control system was modified into an untethered system, and control experiments were performed. The realization of the steering motion was verified by them.

Design and Experimental Evaluation of a Multi-mode Mobile Robot Based on Eccentric Paddle Mechanism

2021 ◽  
pp. 1-1
Author(s):  
Yi Sun ◽  
Longteng Zhang ◽  
Min Wang ◽  
Jiheng Ding ◽  
Wenchuan Jia ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Experimental Evaluation ◽  
Multi Mode

Design and analysis of a multi-mode mobile robot based on Schatz linkages

2022 ◽  
Vol 169 ◽  
pp. 104651
Author(s):  
Shun Yao ◽  
Ran Liu ◽  
Yan-an Yao
Keyword(s):  
Mobile Robot ◽  
Multi Mode

A next generation mobile robot with multi-mode sense of 3D perception

2015 ◽  
Author(s):  
Parijat Deshpande ◽  
V. Ramu Reddy ◽  
Arindam Saha ◽  
Karthikeyan Vaiapury ◽  
Keshaw Dewangan ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Next Generation ◽  
3D Perception ◽  
Multi Mode

Research on Kinematic for the Mechanism of Wheel-Leg Mobile Robot with Multi-Sports Mode

2014 ◽  
Vol 1044-1045 ◽  
pp. 850-853
Author(s):  
Meng Jun Song ◽  
Cheng Jun Ding ◽  
Xu Long Wang ◽  
Yi Zhou ◽  
Hai Song Zhou
Keyword(s):  
Mobile Robot ◽  
Parallel Mechanism ◽  
Kinematic Model ◽  
Mechanism Model ◽  
Experimental Prototype ◽  
Walking Mechanism ◽  
Serial Mechanism

Based on the walking mechanism and the researching method for the serial-parallel mechanism, one multi-sports mode wheel-leg mobile robot is proposed in this paper; Firstly, the serial mechanism model of one leg is constructed, and the method for constructing the kinematic model of the single leg mechanism is studied; Secondly, based on the study of the single leg mechanism, the kinematic model of the parallel mechanism of the multi-sports mode wheel-leg robot is further constructed when the robot is in the support state; Finally, based on the methods and theories discussed above, the experimental prototype mobile robot is constructed, so feasibility of the proposed method is verified.

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