LAUSR.org creates dashboard-style pages of related content for over 1.5 million academic articles. Sign Up to like articles & get recommendations!

Design of reconfigurable mechanism for underactuated robot in the grounded applications

Photo by edhoradic from unsplash

Abstract In the robotic applications, wheel-legged robot provides many advantages such as lightweight, superior performance, low energy consumption and wide development prospects. Especially, in some emergent cases, it has the… Click to show full abstract

Abstract In the robotic applications, wheel-legged robot provides many advantages such as lightweight, superior performance, low energy consumption and wide development prospects. Especially, in some emergent cases, it has the ability to move flexibly, pass obstacles and work in both outdoor and indoor environment. In this paper, a novel design of wheel-legged platform for robotic investigation is presented. Firstly, the principle diagram of underactuated robot (UR) is outlined owing to the model of inverted pendulum. Then, several theoretical computations are suggested to ensure the ability to work as its desired control. Later, an overview of mechanical design in 3D is described as well as the design of electrical circuit is demonstrated based on these requirements. To validate the feasibility and effectiveness of our approach, several numerical simulations are carried out.

Keywords: reconfigurable mechanism; underactuated robot; design reconfigurable; design; robot; mechanism underactuated

Journal Title: Cogent Engineering
Year Published: 2022

Link to full text (if available)


Share on Social Media:                               Sign Up to like & get
recommendations!

Related content

More Information              News              Social Media              Video              Recommended



                Click one of the above tabs to view related content.