Abstract
This paper introduces a movement-mode-switching mechanism for a hybrid wheel/legged mobile robot. With the switching mechanism, two movement modes are achieved independently sharing the same actuator, thus fewer actuators are used in the robots. A clutch is designed to accomplish the movement-mode-switching process. The trapezoid tooth meshing as a tolerance design is used, which not only leads to better engagement, but also increases the transmission accuracy. The drawing back and recovery of the shape memory alloy conduces to the reciprocation of the clutch, which transfers motion towards wheels and legs from the bevel gears, respectively. Then, motion and force simulation of the switching process is made with Adams. The results are used to check the material of the clutch and ensure the feasibility of the switching mechanism. Finally, a practical application is introduced using the switching mechanism, showing an adaptive capacity of the system to most wheel/legged robots.
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Acknowledgement
This work was supported by the Natural Science Foundation of Guangdong Province [grant No. 2018A030313247]; and the Science and Technology Innovation Committee of Shenzhen [grant No. JCYJ20170811155308246]. In addition, the authors would like to acknowledge the following individuals for their contributions by providing technical insight and guidance to the authors.
Wenfu Xu, Professor. Harbin Institute of Technology Shenzhen
Peng Kang, PhD candidate. Harbin Institute of Technology Shenzhen
Xin Wang, Master. Harbin Institute of Technology Shenzhen
Guo Yang, Master candidate. Harbin Institute of Technology Shenzhen
Yihong Li, Bachelor candidate. Harbin Institute of Technology Shenzhen
ZhongHua Hu, PhD candidate. Harbin Institute of Technology Shenzhen
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Guo, X., Su, Y., Yuan, H. (2019). Movement-Mode-Switching Mechanism for a Hybrid Wheel/Legged Mobile Robot. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_34
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DOI: https://doi.org/10.1007/978-3-030-27535-8_34
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