2020
DOI: 10.1177/0954406220912005
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Kinematic analysis of the R subfamily of the HeIse wheels

Abstract: In this paper, the kinematic analysis of a series of variable geometry legged wheels is presented. These mechanisms can transform a circular wheel into a hybrid legged wheel in order to combine the efficiency and ability to traverse difficult terrain of each method of locomotion. The inverse and direct kinematic problems of position and velocity are stated and solved. Then, a singularity analysis of the mechanisms is performed. The geometrical conditions that make the Jacobian matrices of the wheels singular a… Show more

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Cited by 4 publications
(1 citation statement)
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“…In the literature, different designs of VGLWs can be found. There are one- [10], two- [12][13][14][15][16][17], and three- [18] degrees-of-freedom VGLWs. Most of the designs employ electric actuators, but some proposals use pneumatic [19] and hydraulic actuation [20].…”
Section: Introductionmentioning
confidence: 99%
“…In the literature, different designs of VGLWs can be found. There are one- [10], two- [12][13][14][15][16][17], and three- [18] degrees-of-freedom VGLWs. Most of the designs employ electric actuators, but some proposals use pneumatic [19] and hydraulic actuation [20].…”
Section: Introductionmentioning
confidence: 99%