Kinetostatic optimization for an adjustable four-bar based articulated leg-wheel subsystem

High mobility, maneuverability and obstacle surmounting capabilities are highly desirable features for rough-terrain locomotion systems. In past work, we examined kinetostatic optimization of candidate articulated leg-wheel subsystem designs (based on the four-bar mechanism) for enhancing locomotion capabilities of land-based vehicles. Our goal was to: (i) achieve the greatest motion-ranges between wheel axle and chassis while (ii) reducing the overall actuation requirements by spring assist. In the current work, we examine the possibility of enhancing this terrain-accommodation by: (i) proposing an “adjustable four-bar” articulated-leg-wheel subsystem; (ii) with active-structural control to actively change subsystem parameters during the terrain traversal. Multiple leg-wheel design- parameters can affect the peak-static torque requirements as well as dynamic-bandwidth requirements for the leg-wheel actuation. The presented results compare and contrast online-structural reconfiguration planning (with multiple alternate active-adjustments) to reduce actuation requirements for a predetermined/sensed terrain traversal profile.