Title :
Mechanical design for wheel/track transform mobile platform-search and rescue robot
Author :
Ansi Peng ; Yimin Zhou ; Jianbing Hu ; Yongsheng Ou
Author_Institution :
Shenzhen Inst. of Adv. Technol., Shenzhen, China
Abstract :
In this paper, a wheel/track mobil platform for robot search and rescue such dangerous tasks is designed. Through the wheel/track transform mechanism, the wheel and track motion modes can be switched alternatively to adapt to different ground situations. The friction between the belt wheel and hub is used to drive the track and its guide wheel is the one of the transform mechanism. When the guide wheel is retracted back into the hub, the track can automatically rebound back to wheel and wrap on the hub. Field experiments demonstrate that the designed platform can move on different ground surfaces.
Keywords :
belts; design engineering; friction; motion control; rescue robots; robot dynamics; wheels; belt wheel-hub friction; dangerous tasks; ground situations; ground surfaces; guide wheel; mechanical design; search and rescue robot; track motion modes; transform mechanism; wheel motion modes; wheel/track transform mobile platform; Friction; Mobile communication; Mobile robots; Tracking; Transforms; Wheels; Friction theory; Mobile platform; Transform mechanism; Wheel/track;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090594
