Abstract
In order to improve the terrain adaptability and enrich the locomotion modes of the mobile platform with single-DoF leg, a multi-mode wheel-leg mechanism is proposed, and wheel mode and leg mode correspond to two motion branches of the spatial reconfigurable mechanism, respectively. The obstacle-climbing expectation of leg mode is obtained by theoretical calculations, and a series of dynamic simulations are conducted and analyzed to test the cruising ability, flexibility and climbing ability of the platform. This study provides a new reference for multi-mode wheel-leg platform development.
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Acknowledgements
This work was supported by the Fundamental Research Funds for the Central Universities (Grant No. 2022RC002) and the National Natural Science Foundation of China (Grant No. 52205007).
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Yang, H., Wu, J., Weng, M., Yao, Y. (2023). Design and Mode Analysis of Reconfigurable Spatial Closed-Chain Wheel-Leg Mechanism. In: Liu, X. (eds) Advances in Mechanism, Machine Science and Engineering in China. CCMMS 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-9398-5_49
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DOI: https://doi.org/10.1007/978-981-19-9398-5_49
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