Abstract:
This paper reports the design innovation and implementation of a novel wheel-leg transformable robot named SWhegPro3. The robot uses a three-impeller design to significan...Show MoreMetadata
Abstract:
This paper reports the design innovation and implementation of a novel wheel-leg transformable robot named SWhegPro3. The robot uses a three-impeller design to significantly improve the overall stair-climbing performance. Unlike other impeller-based designs that use gear sets to unfold the impellers, this robot uses self-locking electric push rods for mode switching, thereby greatly improving its load capacity. We also analyze the stair climbing operation and derive a model to calculate the optimal configuration of the wheel-leg module and the corresponding displacement of the push rod, in order to better adapt to different sized stairs. We conduct both simulation and field experiments to validate our proposed design and control strategy.
Date of Conference: 04-09 December 2023
Date Added to IEEE Xplore: 22 December 2023
ISBN Information: