文章基本信息

标题：Design and analysis of a wheel-legged hybrid locomotion mechanism
本地全文：下载
作者：Change Zheng ; Jinhao Liu ; Tony E Grift 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2015
卷号：7
期号：11
DOI：10.1177/1687814015616908
语种：English
出版社：Sage Publications Ltd.
摘要：A wheel-legged hybrid robot was put forward. First, the mechanical design of this chassis was introduced. Second, based on the kinematic analysis, comparison between the robot with the active transition system and that with the passive transition system was made. Third, the process of overcoming three kinds of obstacles was simulated. Finally, the conclusion can be made that this hybrid locomotion mechanism with the active transition system has good performance on rough terrains.
关键词：Wheel-legged hybrid robot; mechanical design; kinematic analysis; simulation