Design and analysis of a wheel-legged hybrid locomotion mechanism

Change Zheng; Jinhao Liu; Tony E. Grift; Zichao Zhang; Tao Sheng; Jiangwenjie Zhou; Yuliang Ma; Ming Yin

doi:10.1177/1687814015616908

Design and analysis of a wheel-legged hybrid locomotion mechanism

Change Zheng, Jinhao Liu, Tony E. Grift, Zichao Zhang, Tao Sheng, Jiangwenjie Zhou, Yuliang Ma, Ming Yin

Research output: Contribution to journal › Article › peer-review

Abstract

A wheel-legged hybrid robot was put forward. First, the mechanical design of this chassis was introduced. Second, based on the kinematic analysis, comparison between the robot with the active transition system and that with the passive transition system was made. Third, the process of overcoming three kinds of obstacles was simulated. Finally, the conclusion can be made that this hybrid locomotion mechanism with the active transition system has good performance on rough terrains.

Original language	English (US)
Journal	Advances in Mechanical Engineering
Volume	7
Issue number	11
DOIs	https://doi.org/10.1177/1687814015616908
State	Published - Nov 2015

Keywords

Wheel-legged hybrid robot
kinematic analysis
mechanical design
simulation

ASJC Scopus subject areas

Mechanical Engineering

Online availability

10.1177/1687814015616908

Library availability

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title = "Design and analysis of a wheel-legged hybrid locomotion mechanism",

abstract = "A wheel-legged hybrid robot was put forward. First, the mechanical design of this chassis was introduced. Second, based on the kinematic analysis, comparison between the robot with the active transition system and that with the passive transition system was made. Third, the process of overcoming three kinds of obstacles was simulated. Finally, the conclusion can be made that this hybrid locomotion mechanism with the active transition system has good performance on rough terrains.",

keywords = "Wheel-legged hybrid robot, kinematic analysis, mechanical design, simulation",

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AU - Liu, Jinhao

AU - Grift, Tony E.

AU - Zhang, Zichao

AU - Sheng, Tao

AU - Zhou, Jiangwenjie

AU - Ma, Yuliang

AU - Yin, Ming

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KW - kinematic analysis

KW - mechanical design

KW - simulation

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Design and analysis of a wheel-legged hybrid locomotion mechanism

Abstract

Keywords

ASJC Scopus subject areas

Online availability

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