Unmanned Leg-Wheel Vehicle Design and of Vertical Step Passability Performance Analysis
- 10.2991/mmme-16.2016.9How to use a DOI?
- unmanned ground vehicle, obstacle climbing, leg-wheel structure
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.
- © 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 - 10.2991/mmme-16.2016.9 ID - Wang2016/10 ER -