Design and Mobility Analysis of a Multi-mode Two-wheel Mobile Robot

doi:10.3901/JME.2019.23.083

Abstract

Abstract: A novel multi-mode two-wheel mobile robot with a chassis based on the planner single-loop 6R linkage mechanism is proposed. According to the motion control of the deformation of chassis, four modes can be generated. The deployable mode, where it can be retracted for transportation and expanded for working; the two-wheel mode where the tail length and wheel base can be adjusted to get a better adaptability for complex terrain; the quasi-track rolling mode for rough and soft road surface and the climbing mode for obstacle crossing. The design and analysis of mechanism is given. Based on kinematics calculation, the mobile parameters are analyzed and the motion gaits are planned. The simulation model is established and the correctness of theoretical analysis is proved. A prototype is fabricated to verify the workability of the deployable mode and the three mobile modes.

Key words: multi-mode, two-wheel mobile robot, deployable structure, obstacle crossing

CLC Number:

TP242

HE Yanying, LI Yezhuo, WU Jianxu, LIU Xingjie, YAO Yanan. Design and Mobility Analysis of a Multi-mode Two-wheel Mobile Robot[J]. Journal of Mechanical Engineering, 2019, 55(23): 83-92.

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