SWhegPro3: A Three-Impeller Wheel-Leg Transformable Robot with Variable Robust Adaptability to Stair Dimensions

Haoran Wang, Siyuan Wang, Cunxi Dai, Zhenzhong Jia*

10.1109/ROBIO58561.2023.10354942

2023-12-04

International Conference on Robotics and Biomimetics

979-8-3503-2571-3

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

1-6

2023-12-4--2023-12-9

泰国

This paper reports the design innovation and implementation of a novel wheel-leg transformable robot named SWhegPro3. The robot uses a three-impeller design to significantly improve the overall stair-climbing performance. Unlike other impeller-based designs that use gear sets to unfold the impellers, this robot uses self-locking electric push rods for mode switching, thereby greatly improving its load capacity. We also analyze the stair climbing operation and derive a model to calculate the optimal configuration of the wheel-leg module and the corresponding displacement of the push rod, in order to better adapt to different sized stairs. We conduct both simulation and field experiments to validate our proposed design and control strategy.

Technological innovation Analytical models Adaptation models Gears Biomimetics Impellers Switches

其他

EI

20240315404696

人工提交

南方科技大学

Haoran Wang, Siyuan Wang, Cunxi Dai, Zhenzhong Jia*. SWhegPro3: A Three-Impeller Wheel-Leg Transformable Robot with Variable Robust Adaptability to Stair Dimensions[C],2023:1-6.