Proceedings of the 2016 4th International Conference on Mechanical Materials and Manufacturing Engineering

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

Authors
Ruotian Wang, Huaying Li, Yunhai Wang, Zhixiong Wang
Corresponding Author
Ruotian Wang
Available Online October 2016.
DOI
https://doi.org/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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Volume Title
Proceedings of the 2016 4th International Conference on Mechanical Materials and Manufacturing Engineering
Series
Advances in Engineering Research
Publication Date
October 2016
ISBN
978-94-6252-221-3
ISSN
2352-5401
DOI
https://doi.org/10.2991/mmme-16.2016.9How to use a DOI?
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/).

Cite this article

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  - https://doi.org/10.2991/mmme-16.2016.9
ID  - Wang2016/10
ER  -