Optimal Design of Body Profile for Stable Stair Climbing Via Tri-wheels

Kim, Younghwan; Son, Donghan; Shin, Jeongpil; Seo, Taewon

doi:10.1007/s12541-023-00887-4

Cited by 2 publications

(1 citation statement)

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“…These wheels’ strength lies in their ability to provide an even smoother trajectory compared to other robots, without requiring complex structures. As an extension of this research, research was also conducted on vaious mobile robot platform that could stably climb stairs while applying spoke wheels 20 – 22 . However, these fixed shapes, lacking circular features, are not well-suited for driving on flat surfaces.…”

Section: Introductionmentioning

confidence: 99%

2 DOF transformable wheel design based on geared 8 bar parallel linkage mechanism

Yoon,

Kim,

Park

et al. 2024

Sci Rep

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This paper introduces a novel design and static optimization for a two-degrees-of-freedom transformable wheel based on a geared linkage mechanism. Overcoming obstacles, including stairs, with small wheels is a major challenge in the field of mobile robotics research. Among various robots, the transformable wheel, which can change the shape of the wheel to overcome steps and optimize the path, was presented and has undergone many improvements. Nevertheless, problems such as asymmetry and structural strength remain. Therefore, the design of this paper aims to address the structural inefficiencies identified in the previous research model, which were attributed to the asymmetric placement of the linear motion guide. Through the implementation of this mechanism, the linear motion of the lobe can be segregated, enabling each input motor to share the workload effectively. The optimization process focus on determining the optimal linkage length under static conditions, resulting in improved structural characteristics and force distribution of linkage within the designated workspace. As a result, asymmetry of motion is eliminated, required intervention angle of the driving motor and stress of linkage was reduced by 36.24% and 8.35%, respectively.

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Section: Introductionmentioning

confidence: 99%