TY - JOUR
ID - 165700
TI - A Novel Multimode Mobile Robot with Adaptable Wheel Geometry for Maneuverability Improvement
JO - International Journal of Robotics, Theory and Applications
JA - IJR
LA - en
SN - 2008-7144
AU - Mardani, Arman
AU - Ebrahimi, Saeed
AD - Yazd University
Y1 - 2016
PY - 2016
VL - 4
IS - 4
SP - 1
EP - 15
KW - adaptable wheel geometry
KW - multimode mobile robot
KW - maneuverability
KW - kinematic analysis
DO -
N2 - In this paper, an innovative mobile platform is presented which is equipped by three new wheels. The core of the new idea is to establish a new design of rigid circular structure which can be implemented as a wheel by variable radius. The structure of wheel includes a circular pattern of a simple two-link mechanism assembled to obtain a wheel shape. Each wheel has two degrees of freedom. The first is to rotate wheel axis and the second is to change the wheel radius. As the first step, after definition of the new model, its spatial kinematics and constraints will be formulated. The well-known Newton-Raphson algorithm is implemented to find the current response of the kinematic model. A semi-dynamic formulation is further utilized to find the torque of motors for adapting the required wheel radius for maneuverability improvement on rough surfaces. The principles of virtual work will be used to extract the torque values numerically. The ability of the proposed robot for performing the required tasks will finally be checked by some simulations.
UR - https://ijr.kntu.ac.ir/article_165700.html
L1 - https://ijr.kntu.ac.ir/article_165700_aeefc331711f244673d58bad6b40f105.pdf
ER -