A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage

Luo, Z; Shang, J; Wei, G; Ren, L

Abstract

This paper presents the design and development of a novel reconfigurable hybrid wheel-track mobile robot (RHMBot). This new reconfigurable mobile robot is constructed based on a Watt II six-bar linkage; through structure reconfiguration, it can provide three locomotion modes as wheel mode, tracked mode, and climbing and roll-over mode. Mechanical design of the proposed RHMBot is introduced, and using mechanism decomposition kinematics of the reconfigurable frame is investigated. Locomotion of the robot is then interpreted associated with transformation of the reconfigurable frame. Further, deformation of the deformable track belt is characterized and static analysis of the reconfigurable frame is accomplished. Numerical simulation of the proposed reconfigurable frame is subsequently implemented, integrated with driving-torque associated parametric study, leading to optimization of the structure parameters. Consequently, prototype of the proposed RHMBot is designed and developed; exploiting which a series of field tests are conducted verifying feasibility and manoeuvrability of the proposed multi-locomotion mobile robot.

Citation

Luo, Z., Shang, J., Wei, G., & Ren, L. (2018). A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage. Mechanism and Machine Theory, 128(10), 16-32. https://doi.org/10.1016/j.mechmachtheory.2018.04.020

• Journal Article Type: Article
• Acceptance Date: Apr 19, 2018
• Online Publication Date: Jun 4, 2018
• Publication Date: Oct 1, 2018
• Deposit Date: Aug 20, 2018
• Publicly Available Date: Jun 4, 2019
• Journal: Mechanism and Machine Theory
• Print ISSN: 0094-114X
• Publisher: Elsevier
• Volume: 128
• Issue: 10
• Pages: 16-32
• DOI: https://doi.org/10.1016/j.mechmachtheory.2018.04.020
• Publisher URL: https://doi.org/10.1016/j.mechmachtheory.2018.04.020
• Related Public URLs: https://www.journals.elsevier.com/mechanism-and-machine-theory
• Additional Information: Funders : NSFC; Grant Number: 51475465