Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure
According to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wh...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2021/7925707 |
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| author | Enzhong Zhang Ruiyang Sun Zaixiang Pang Shuai Liu |
| author_facet | Enzhong Zhang Ruiyang Sun Zaixiang Pang Shuai Liu |
| author_sort | Enzhong Zhang |
| collection | DOAJ |
| description | According to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wheel-leg-combined mechanism, the land part of the air-ground amphibious reconnaissance robot is designed. Considering the obstacle and fast marching performance, four groups of combined wheel-leg mechanisms are adopted in the land bank. Under the action of three kinds of obstacles, the stability and the movement ability of the robot are analyzed by using the static method. The parameter model of the reconnaissance robot is built by a virtual prototype dynamics software MSC.ADMAS. The kinematic characteristic curves of each component and the whole prototype are obtained, which provides a theoretical basis for the design and numerical calculation of the robot structure. Finally, the climbing ability tests of the reconnaissance robot prototype verify the reliability and practicability of the body structure of the reconnaissance robot. |
| format | Article |
| id | doaj-art-d471817834ff42b6bacf6582467d3e4a |
| institution | Kabale University |
| issn | 1754-2103 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-d471817834ff42b6bacf6582467d3e4a2025-02-03T01:03:41ZengWileyApplied Bionics and Biomechanics1754-21032021-01-01202110.1155/2021/7925707Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type StructureEnzhong Zhang0Ruiyang Sun1Zaixiang Pang2Shuai Liu3School of Mechatronical EngineeringSchool of Mechatronical EngineeringSchool of Mechatronical EngineeringSchool of Mechatronical EngineeringAccording to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wheel-leg-combined mechanism, the land part of the air-ground amphibious reconnaissance robot is designed. Considering the obstacle and fast marching performance, four groups of combined wheel-leg mechanisms are adopted in the land bank. Under the action of three kinds of obstacles, the stability and the movement ability of the robot are analyzed by using the static method. The parameter model of the reconnaissance robot is built by a virtual prototype dynamics software MSC.ADMAS. The kinematic characteristic curves of each component and the whole prototype are obtained, which provides a theoretical basis for the design and numerical calculation of the robot structure. Finally, the climbing ability tests of the reconnaissance robot prototype verify the reliability and practicability of the body structure of the reconnaissance robot.http://dx.doi.org/10.1155/2021/7925707 |
| spellingShingle | Enzhong Zhang Ruiyang Sun Zaixiang Pang Shuai Liu Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure Applied Bionics and Biomechanics |
| title | Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure |
| title_full | Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure |
| title_fullStr | Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure |
| title_full_unstemmed | Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure |
| title_short | Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure |
| title_sort | obstacle capability of an air ground amphibious reconnaissance robot with a planetary wheel leg type structure |
| url | http://dx.doi.org/10.1155/2021/7925707 |
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