Embedded Files
4-bar Mechanism Design (Transformable Wheel)
4-bar Mechanism Design (Transformable Wheel)
Design Goal
Passive wheel transformer with a trigger appendage
REFERENCE: Kim, Y. S., Jung, G. P., Kim, H., Cho, K. J., & Chu, C. N. (2014). Wheel transformer: A wheel-leg hybrid robot with passive transformable wheels. IEEE Transactions on Robotics, 30(6), 1487-1498.Â
Among three design paremeters, we chose the ratio of L1/L4 = 0.7 and L1/L4 = 1
REFERENCE: Xu, Q., Xu, H., Xiong, K., Zhou, Q., & Guo, W. (2021, September). Design and Analysis of a Bi-directional Transformable Wheel Robot Trimode. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 8396-8403). IEEE.Â
Design
Link 1: Ground - Main body
Link 2: Rocker - Spinner
Link 3: Rocker - Round wheel link
Link 4: Coupler - Link the spinner and round wheel
Analysis
Position Analysis
L1/L4 = 0.7
L1/L4 = 0.7
L1/L4 = 1.0
L1/L4 = 1.0
Velocity Analysis
L1/L4 = 0.7
L1/L4 = 0.7
L1/L4 = 1.0
L1/L4 = 1.0
Acceleration Analysis
L1/L4 = 0.7
L1/L4 = 0.7
L1/L4 = 1.0
L1/L4 = 1.0
Simulation
media2.mp4L1/L4 = 0.7
media3.mp4L1/L4 = 1.0
L1/L4 = 1.0
Statistics
L1/L4 = 0.7
L1/L4 = 0.7
L1/L4 = 1.0
L1/L4 = 1.0
Real Model Photos
L1/L4 = 1.0
Before transform
Before transform
After transform
After transform
L1/L4 = 0.7
Before transform
Before transform
After transform
After transform
media4.mp4Page updated
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