No abstract

No abstract

Concerning that traditional mobile robot suffers the low walking efficiency or poor climbing ability, a new model of Variable Eccentric Wheel-legged Robot is proposed in this paper. The modeling and analysis of the kinematics and kinetics prove that the idea is feasible. The Variable Eccentric Wheel-legged Robot can not only effectively walk on a flat ground, but also own better climbing ability on a non-flat surface, comprising the obstacle of continuous steps. Firstly, the structure of the Variable Eccentric Wheels with double eccentric circle is introduced briefly and its maximum height of surmountable obstacle is given at the same time. Then, we analyze the property of the robot from two aspects: walking efficiency and crossing obstacle ability. By using the six ways of action and three states of the robot, the walking efficiency of robot is analyzed, and by adopting the Static Stability Margin Method and Center of Gravity Projection Method, the crossing obstacle ability is analyzed, especially, the ability to climb the stairs in the four eccentric wheels state. And the biggest height limit of slope, which the robot can climb is given. Finally, a series of experiments we did and the analysis of the results prove that the Variable Eccentric Wheel-legged Robot can switch respectively from eccentric to center, and back again, so it can adapt to any terrain keeping high efficiency and making full use of the wheel and eccentric design.

Abstract. This paper presents a double eccentric circular variable eccentricity widening components, including the Inner wheel and outer wheel. The inner wheel can be rotated in the outer wheel, and the outer ring surface of the inner wheel is provided with a plurality of first limit means, the inner ring surface of the outer wheel is provided with a second limiting device cooperating with the first stop device. The robot can be used as eccentric foot structure robot, It can also be a regular round wheel structure robot. When the robot is moving on a flat ground, the obstruction wheel switch to ordinary round mode, Ordinary round wheel of the power axis is located in the center, walking without ups and downs, high efficiency. In the non-flat ground motion, the obstacle can be used as a eccentric wheel, The power shaft of the eccentric wheel deviates from the center of the circle, obstacle ability is better. In this invention, the robot's obstacle wheel can switch freely in eccentricity and center, the size of eccentricity can be adjusted in real time according to the height of obstacles in the more obstacle environment. The higher the obstruction, the greater the eccentricity of the obstacle wheel.

Abstract. The paper presents a biaxial and four-wheeled robot, mainly composed of two axle, two circular wheels and two three-leaved wheels. By analyzing the difference between the velocity of the circular wheel and three-leaved wheel in same axle, the steering principle of the difference velocity is proved. The three-leaved wheels are installed by a complementary phase method to ensure the stability of the robot walking. Through the steering principle, the control method of robot's forward, backward, turn left and turn right is designed. A large number of experimental results show that the robot has the characteristics of high steering efficiency, simple mechanical structure and easy to control.