https://scholars.lib.ntu.edu.tw/handle/123456789/633618
標題: | Design and implementation of a novel spherical robot with rolling and leaping capability | 作者: | Chang, Wei Jer Chang, Chih Ling Ho, Jen Hung PEI-CHUN LIN |
關鍵字: | differential drive | five-bar linkage | hybrid robot | leaping | rolling | Spherical robot | 公開日期: | 1-五月-2022 | 卷: | 171 | 來源出版物: | Mechanism and Machine Theory | 摘要: | To improve robots’ mobility on flat ground and rough terrain, we designed and implemented a novel spherical robot with a combined rolling and leaping capability. The robot has two individually driven semi-spheres, which generate rolling and turning motions. The robot also has a five-bar linkage with a release/retract mechanism for leaping. The release/retract mechanism only uses one DOF to control and switch the mechanism in three different stages: retracting, maintaining, and releasing. In this paper, the dynamics of the robot in rolling and leaping are analyzed. The robot was empirically built, and its performance was experimentally evaluated. The results confirm that the robot can leap close to 25.4 cm diameter of the sphere, which, to the best of our knowledge, is the best among reported spherical robots. The robot can also leap while rolling over a 14 cm barrier, which is equal to 1.14 times the sphere's radius. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/633618 | ISSN: | 0094114X | DOI: | 10.1016/j.mechmachtheory.2022.104747 |
顯示於: | 機械工程學系 |
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