{"title":"Study on climbing slope of wheel-track hybrid mobile robot","authors":"Fei Yanqiong, Wu Qiuxuan, Zhu Yuhang","doi":"10.1109/M2VIP.2016.7827308","DOIUrl":null,"url":null,"abstract":"A wheel-track hybrid mobile robot with multimotion modes is designed. It is composed of a robot central body, four driving mechanisms, four independent track arms, two differential wheels, two guide wheels and so on. According to different environments, it can switch between the pure wheel mode and the pure track mode. A stability pyramid is defined by using a quasi-static model. The process of climbing the slope is analyzed with the stability pyramid method. Experimental results show that this hybrid mobile robot could fully possess the advantages of both the wheel and the track mechanism, achieving a good climbing slope capability.","PeriodicalId":125468,"journal":{"name":"2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","volume":"299 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/M2VIP.2016.7827308","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
A wheel-track hybrid mobile robot with multimotion modes is designed. It is composed of a robot central body, four driving mechanisms, four independent track arms, two differential wheels, two guide wheels and so on. According to different environments, it can switch between the pure wheel mode and the pure track mode. A stability pyramid is defined by using a quasi-static model. The process of climbing the slope is analyzed with the stability pyramid method. Experimental results show that this hybrid mobile robot could fully possess the advantages of both the wheel and the track mechanism, achieving a good climbing slope capability.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
