Kinematic analysis of the R subfamily of the HeIse wheels

Abstract

In this paper, the kinematic analysis of a series of variable geometry legged wheels is presented. These mechanisms can transform a circular wheel into a hybrid legged wheel in order to combine the efficiency and ability to traverse difficult terrain of each method of locomotion. The inverse and direct kinematic problems of position and velocity are stated and solved. Then, a singularity analysis of the mechanisms is performed. The geometrical conditions that make the Jacobian matrices of the wheels singular are determined and interpreted. Subsequently, an exploration of the workspace is presented to show kinematic features of the wheels inside their operation region.

Keywords

Mobile robotics hybrid legged wheels transformable mechanism kinematics

Get full access to this article

View all access options for this article.

References

Siegwart

Nourbakhsh

Scaramuzza

. Introduction to autonomous mobile robots, 2nd ed. Boston, MA: MIT Press,, 2011.

Bruzzone

Quaglia

. Review article: locomotion systems for ground mobile robots in unstructured environments. Mech Sci 2012; 3: 49–62.

Lu D, Dong E, Liu C, et al. Design and development of a leg-wheel hybrid robot HyTRo-I. In: IEEE/RSJ international conference on intelligent robots and systems (IROS), 2013, pp.6031–6036. New York: IEEE.

Qiao

Song

Zhang

, et al. A wheel-legged robot with active waist joint: design, analysis, and experimental result. J Intell Robot Syst 2016; 83: 485–502.

Cordes F, Dettmann A and Kirchner F. Locomotion modes for a hybrid wheeled-leg planetary rover. In: IEEE international conference on robotics and biomimetics (ROBIO), 2011, pp.2586–2592. New York: IEEE.

Siegwart

Lamon

Estier

, et al. Innovative design for wheeled locomotion in rough terrain. Robot Auton Syst 2002; 40: 151–162.

Eich M, Grimminger F and Kirchner F. A versatile stair-climbing robot for search and rescue applications. In: 2008 IEEE international workshop on safety, security and rescue robotics, 2008, pp.35–40. New York: IEEE.

Burt IT and Papanikolopoulos NP. Adjustable diameter wheel assembly, and methods and vehicles using same. US 6860346, 2005.

Sgherri G and Spina GL. Variable-diameter wheel. US 20120104834 A1, 2012.

10.

Suzuki M. Toy model with transforming tire mechanism. US 20110021112 A1, 2011.

11.

Kim

Jung

Kim

, et al. Wheel transformer: a wheel-leg hybrid robot with passive transformable wheels. IEEE Trans Robot 2014; 30: 1487–1498.

12.

Nagatani

Kuze

Yoshida

. Development of transformable mobile robot with mechanism of variable wheel diameter. J Robot Mechatron 2007; 19: 252–253.

13.

Rafique R. Reconfigurable mechanism for mobile robotic platform. In: Proceedings of the national conference on machines and mechanisms (iNaCoMM2013), IIT Roorkee, India, 2013, pp.714–721.

14.

Zhang J, Zhang P, Zhang L, et al. Folding combined obstacle detouring wheel. CN 102350917 A, 2011.

15.

Sun

Xiang

, et al. A transformable wheel-legged mobile robot: design, analysis and experiment. Robot Auton Syst 2017; 98: 30–41.

16.

Lin

. Slip-model-based dynamic gait generation in a leg-wheel transformable robot with force control. IEEE Robot Autom Lett 2017; 2: 804–810.

17.

Yun

Lee

Jung

, et al. Development of a transformable wheel actuated by soft pneumatic actuators. Int J Control, Autom Syst 2017; 15: 36–44.

18.

Hu Y. Automotive cat-claw-shaped telescopic antiskid wheel. CN 202716669 U, 2013.

19.

Tadakuma K, Tadakuma R, Maruyama A, et al. Mechanical design of the wheel-leg hybrid mobile robot to realize a large wheel diameter. In: 2010 IEEE/RSJ international conference on intelligent robots and systems, 2010, pp.3358–3365. New York: IEEE.

20.

Lin P and Shen S. Mobile platform. US 8307923 B2, 2012.

21.

Boysen

Schwerdfeger

Weidinger

. Scheduling last-mile deliveries with truck-based autonomous robots. Eur J Oper Res 2018; 271: 1085–1099.

22.

Moreno HA and Carrera IG. Mecanismo de 2 grados de libertad para implementar una rueda hibrida de geometria variable, MX/a/2016/013175, 2016.

23.

Moreno HA and Carrera IG. Mecanismo para implementar una rueda transformable, MX/u/2018/000237, 2018.

24.

Moreno

Carrera

García

, et al. Heise wheels: a family of mechanisms for implementing variable geometry hybrid wheels. Revista Iberoamericana de Automática e Informática industrial 2018, pp. 15.

25.

Moreno Avalos

Saltaren

Carrera

, et al. Performance indices for robotic manipulators: A review of the state of the art. Revista Iberoamericana de Automática e Informática Industrial RIAI 2012; 9: 111–122.

26.

Zlatanov

Fenton

Benhabib

. A unifying framework for classification and interpretation of mechanism singularities. J Mech Des 1995; 117: 566–572.

Supplementary Material

Please find the following supplemental material available below.

For Open Access articles published under a Creative Commons License, all supplemental material carries the same license as the article it is associated with.

For non-Open Access articles published, all supplemental material carries a non-exclusive license, and permission requests for re-use of supplemental material or any part of supplemental material shall be sent directly to the copyright owner as specified in the copyright notice associated with the article.

0.00 MB

0.37 MB