Jixie chuandong (Sep 2023)
Design and Motion Analysis of a Transformable Wheeled-Clawed Flexible Mechanism for Robots
Abstract
In order to improve the ability of wheeled robots to surmount obstacles and improve the movement stability, a transformable wheeled-clawed flexible mechanism and a motion mode conversion transformation scheme of the robot are designed. The transformation principle of the wheel is introduced in detail and both the kinematics theory analysis and Adams kinematics simulation analysis of the deformation process are completed. The simulation results are basically consistent with the theoretical results. Through the mutual verification of theory and simulation, the accurate pulse width modulation （PWM） wave control range of steering gear is determined. In order to verify the feasibility of the proposed scheme, taking the wheel radius of 80 mm as an example, Adams virtual prototype simulation and prototype platform experiment are used to verify the obstacle crossing ability of the proposed transformable wheel. The simulation and experimental results show that the robot has stronger stability when moving on flat ground with a flexible structure.
