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

fYear

2014

Firstpage

1787

Lastpage

1792

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on

Type

conf

DOI

10.1109/ROBIO.2014.7090594

Filename

7090594