Unmanned Leg-Wheel Vehicle Design and of Vertical Step Passability Performance Analysis

DOI

10.2991/mmme-16.2016.9How to use a DOI?

Keywords

unmanned ground vehicle, obstacle climbing, leg-wheel structure

Abstract

In order to achieve high mobility for country crossing and the ability of climbing vertical obstacles, a new lo-comotion mechanism that combines legs and wheels is proposed, and a prototype mobile robot that adopts the mechanism is introduced, actions for obstacle climbing is designed. Focused on forces and power require-ments on leg-wheel mechanism in the process of obstacle climbing, calculated the maximum of output torque during motor drive legs rotation, established a model of unmanned ground vehicle through the multibody dy-namics modeling software ADAMS, simulated and analyzed the process of obstacle climbing. Result show that the proposed structure meet the demand of 220mm high platform climbing with the maximum rotating torque 4.99N m.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Ruotian Wang
AU  - Huaying Li
AU  - Yunhai Wang
AU  - Zhixiong Wang
PY  - 2016/10
DA  - 2016/10
TI  - Unmanned Leg-Wheel Vehicle Design and of Vertical Step Passability Performance Analysis
BT  - Proceedings of the 2016 4th International Conference on Mechanical Materials and Manufacturing Engineering
PB  - Atlantis Press
SP  - 34
EP  - 37
SN  - 2352-5401
UR  - https://doi.org/10.2991/mmme-16.2016.9
DO  - 10.2991/mmme-16.2016.9
ID  - Wang2016/10
ER  -