Design and Development of the Hybrid Mobile Robots

被引：3

作者：

Tatar, Mihai Olimpiu ^{[1
]}

Petre, Barbu ^{[1
]}

Teutan, Emil ^{[1
]}

机构：

[1] Tech Univ Cluj Napoca, Dept Mechatron & Machine Dynam, Cluj Napoca, Romania

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS (AQTR) | 2018年

关键词：

mobile robot; leg; wheel; locomotion; hybrid;

D O I：

10.1109/AQTR.2018.8402729

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the authors present two robots with leg-wheel hybrid locomotion systems, developed for didactic and research purposes. The first robot consists of a main platform which has four spatial mechanisms connected to it that act as legs, and each leg has a drive wheel on its extremity. The robot uses servomotors for powering the legs and each wheel is powered by a servomotor and a DC motor. The second robot consists of a main platform which has three legs attached to it, and each leg has a drive wheel on its extremity. The legs are powered by DC motors trough timing belts transmissions. Keeping the legs in a certain position is done by using couplings. The wheels are powered by a single DC motor. The second prototype was built in two configurations: one with typical wheels and one with mixed wheels, that has two typical wheels and an omnidirectional wheel.

引用

页数：6

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