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2 DOF transformable wheel design based on geared 8 bar parallel linkage mechanism
Hyeungyu Yoon1, SangGyun Kim1, Inha Park1
1School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea.
Scientific Reports
|January 3, 2024
Summary
This study presents an optimized transformable wheel design for mobile robots, improving obstacle traversal. The novel geared linkage mechanism enhances structural integrity and load distribution for better performance.
Area of Science:
- Robotics
- Mechanical Engineering
- Mechatronics
Background:
- Transformable wheels are crucial for mobile robots navigating challenging terrains like stairs.
- Existing designs often suffer from asymmetry and structural weaknesses, limiting performance.
- Previous models faced issues with asymmetric linear motion guide placement.
Purpose of the Study:
- To introduce a novel, structurally optimized two-degrees-of-freedom transformable wheel design.
- To address and eliminate asymmetry and improve structural strength in transformable wheel mechanisms.
- To enhance the performance and efficiency of mobile robots in obstacle negotiation.
Main Methods:
- A novel geared linkage mechanism was designed for a two-degrees-of-freedom transformable wheel.
- Static optimization focused on determining optimal linkage lengths for improved structural characteristics.
- The design segregates linear motion of the lobe, allowing for effective workload sharing by input motors.
Main Results:
- Elimination of motion asymmetry in the transformable wheel.
- Reduction in the required intervention angle of the driving motor by 36.24%.
- Reduction in linkage stress by 8.35% through static optimization.
Conclusions:
- The novel transformable wheel design effectively overcomes limitations of previous models.
- Optimized linkage lengths result in improved structural integrity and force distribution.
- The enhanced design offers superior performance for mobile robots in complex environments.
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