Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/87639
Title: | Design and implementation of a two-wheel and hopping robot with a linkage mechanism | Authors: | Zhang, YH Zhang, LF Wang, W Li, YM Zhang, QW |
Issue Date: | 2018 | Source: | IEEE access, 2018, v. 6, p. 42422-42430 | Abstract: | Wheeled robots exhibit fast and stable motion on a flat road but lack the ability to overcome the obstacles and rough terrains. To address this shortage, a two-wheel hopping robot is proposed by combining the wheel locomotion and bounce movement. A gear train and a four-bar linkage are employed for jumping. In particular, the take-off angle is dependent on the link length of the four-bar linkage, thus providing versatile flight trajectories. Therefore, the dependency of the hopping performance on the four-bar linkage can be maximized. A four-bar linkage with the same length is used for the specific trajectory and balance control of the inverted pendulum model of the prototype. Dynamics analyses and simulations have been conducted to verify the robot design and its parameters. By jumping tests, the hopping performance is compared with other robots in a quantitative manner. The experimental Results show that the wheeled hopping robot has the advantages of light mass and jumping height efficiency. |
Keywords: | Two-wheel and hopping robot Four-bar linkage Motion analysis Hopping |
Publisher: | Institute of Electrical and Electronics Engineers | Journal: | IEEE access | EISSN: | 2169-3536 | DOI: | 10.1109/ACCESS.2018.2859840 | Rights: | © 2018 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information. Posted with permission of publisher. The following publication Y. Zhang, L. Zhang, W. Wang, Y. Li and Q. Zhang, "Design and Implementation of a Two-Wheel and Hopping Robot With a Linkage Mechanism," in IEEE Access, vol. 6, pp. 42422-42430, 2018 is available at https://dx.doi.org/10.1109/ACCESS.2018.2859840 |
Appears in Collections: | Journal/Magazine Article |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Zhang_Two-wheel_Hopping_Robot.pdf | 7.88 MB | Adobe PDF | View/Open |
Page views
58
Last Week
0
0
Last month
Citations as of May 5, 2024
Downloads
162
Citations as of May 5, 2024
SCOPUSTM
Citations
31
Citations as of Apr 26, 2024
WEB OF SCIENCETM
Citations
28
Citations as of May 2, 2024
Google ScholarTM
Check
Altmetric
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.