Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure

According to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wh...

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Autores principales:	Enzhong Zhang, Ruiyang Sun, Zaixiang Pang, Shuai Liu
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Biotechnology TP248.13-248.65 Biology (General) QH301-705.5
Acceso en línea:	https://doaj.org/article/d471817834ff42b6bacf6582467d3e4a
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id	oai:doaj.org-article:d471817834ff42b6bacf6582467d3e4a
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spelling	oai:doaj.org-article:d471817834ff42b6bacf6582467d3e4a2021-11-29T00:55:34ZObstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure1754-210310.1155/2021/7925707https://doaj.org/article/d471817834ff42b6bacf6582467d3e4a2021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/7925707https://doaj.org/toc/1754-2103According to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wheel-leg-combined mechanism, the land part of the air-ground amphibious reconnaissance robot is designed. Considering the obstacle and fast marching performance, four groups of combined wheel-leg mechanisms are adopted in the land bank. Under the action of three kinds of obstacles, the stability and the movement ability of the robot are analyzed by using the static method. The parameter model of the reconnaissance robot is built by a virtual prototype dynamics software MSC.ADMAS. The kinematic characteristic curves of each component and the whole prototype are obtained, which provides a theoretical basis for the design and numerical calculation of the robot structure. Finally, the climbing ability tests of the reconnaissance robot prototype verify the reliability and practicability of the body structure of the reconnaissance robot.Enzhong ZhangRuiyang SunZaixiang PangShuai LiuHindawi LimitedarticleBiotechnologyTP248.13-248.65Biology (General)QH301-705.5ENApplied Bionics and Biomechanics, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Biotechnology TP248.13-248.65 Biology (General) QH301-705.5
spellingShingle	Biotechnology TP248.13-248.65 Biology (General) QH301-705.5 Enzhong Zhang Ruiyang Sun Zaixiang Pang Shuai Liu Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure
description	According to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wheel-leg-combined mechanism, the land part of the air-ground amphibious reconnaissance robot is designed. Considering the obstacle and fast marching performance, four groups of combined wheel-leg mechanisms are adopted in the land bank. Under the action of three kinds of obstacles, the stability and the movement ability of the robot are analyzed by using the static method. The parameter model of the reconnaissance robot is built by a virtual prototype dynamics software MSC.ADMAS. The kinematic characteristic curves of each component and the whole prototype are obtained, which provides a theoretical basis for the design and numerical calculation of the robot structure. Finally, the climbing ability tests of the reconnaissance robot prototype verify the reliability and practicability of the body structure of the reconnaissance robot.
format	article
author	Enzhong Zhang Ruiyang Sun Zaixiang Pang Shuai Liu
author_facet	Enzhong Zhang Ruiyang Sun Zaixiang Pang Shuai Liu
author_sort	Enzhong Zhang
title	Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure
title_short	Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure
title_full	Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure
title_fullStr	Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure
title_full_unstemmed	Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure
title_sort	obstacle capability of an air-ground amphibious reconnaissance robot with a planetary wheel-leg type structure
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/d471817834ff42b6bacf6582467d3e4a
work_keys_str_mv	AT enzhongzhang obstaclecapabilityofanairgroundamphibiousreconnaissancerobotwithaplanetarywheellegtypestructure AT ruiyangsun obstaclecapabilityofanairgroundamphibiousreconnaissancerobotwithaplanetarywheellegtypestructure AT zaixiangpang obstaclecapabilityofanairgroundamphibiousreconnaissancerobotwithaplanetarywheellegtypestructure AT shuailiu obstaclecapabilityofanairgroundamphibiousreconnaissancerobotwithaplanetarywheellegtypestructure
_version_	1718407799353901056

Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure

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