Design and Experimental Evaluation of a Multi-Mode Mobile Robot Based on Eccentric Paddle Mechanism
Yi Sun, Longteng Zhang, Min Wang, Jiheng Ding, Wenchuan Jia, Huayan Pu, Jun Luo
Abstract
In order to improve climbing performance of the robot in complex environments, the wheel-legged mechanism is gradually being widely used. In this letter, we simplify the previous eccentric paddle mechanism (ePaddle), and propose a 2-DOF ePaddle-based robot which integrates stability and maneuverability of wheeled robot and high step-climbing capability of legged robot. By means of 2-DOF ePaddle mechanism, this robot has three gaits of circular-wheeled (CW), passive-paddle-wheeled (PPW), and active-paddle-legged (APL). Based on the four-modules robot prototype, indoor and outdoor experiments are carried out. Results confirmed that three gaits are effective and feasible, and the robot has great step-climbing performance and environmental adaptability. According to the margin of slippage, step-climbing kinematics models under different gaits are proposed and the parametric analysis is carried out. Experimental results validate the accuracy of the obstacle-climbing model and the great ability of two-modules robot to climb steps. Performance criteria shows that the 2-DOF ePaddle-based robot has a significant improvement in step-climbing compared with 3-DOF ePaddle-based one.
BibTeX
@inproceedings{ral2021_designandexperim,
title = {Design and Experimental Evaluation of a Multi-Mode Mobile Robot Based on Eccentric Paddle Mechanism},
author = {Yi Sun and Longteng Zhang and Min Wang and Jiheng Ding and Wenchuan Jia and Huayan Pu and Jun Luo},
booktitle = {RA-L 2021},
year = {2021}
}