RECONFIGURABLE WHEEL-LEGGED ROBOT

Abstract

The paper deals with the reconfigurable robot design. A robot should be able to locomote via using wheels on a smooth terrain and locomote via using legs on a rough terrain or if necessary also cross an obstacle. The transformation between legs and wheels is a suitable concept to an unknown environment with obstacles. Wheeled locomotion is better from the viewpoint of energy consumption. A design of a wheeled mode of the robot was the first part of the design. The design of a quarter model of the mobile robot in a legged mode has been also made. A position vector of an end point (wheel) has been determined via using the Denavit-Hartenberg principle. The realised model is used mainly for an experimental study of the reconfigurable robot designed principle. A locomotion strategy of the robot has been proposed.

Recommended articles

THE OPTIMIZATION OF OPERATING PARAMETERS FOR A MELTING FURNACE DURING MELTING OF ALUMINIUM ALLOY AlSi7Mg0.6

Luboslav Straka, Peter Michalik, Slavko Pavlenko, Matej Hrabcak
Keywords: economic efficiency | operating parameters | melting furnace | technical device | optimization

CERAMIC 3D PRINTING: COMPARISON OF SLA AND DLP TECHNOLOGIES

Veronika Truxova, Jiri Safka, Martin Seidl, Iaroslav Kovalenko, Lukas Volesky, Michal Ackermann
Keywords: debinding | sintering | ceramics | Digital Light Processing | stereolithography | 3D printing

THE PROCESS OF CREATING A COMPUTATIONAL 3D MODEL OF A HARMONIC TRANSMISSION

Maros Majchrak, Robert Kohar, Michal Lukac, Rudolf Skyba
Keywords: backlash analysis | 3D computational model | construction parameters | Harmonic gear systems

THEORETICAL RESEARCH OF THE INTERNAL GAS DYNAMICS PROCESSES OF MEASUREMENTS OF HOT AIR CURTAIN WITH CROSS-FLOW FAN

Maria R. Koroleva, Olga V. Mishchenkova, Michal Kelemen, Alena A. Chernova
Keywords: curtain efficiency | gas dynamic | computational simulation | cross-flow fan | air curtain | theoretical research