A tracked robot with novel bio-inspired passive “legs” View Full Text


Ontology type: schema:ScholarlyArticle      Open Access: True


Article Info

DATE

2017-12

AUTHORS

Bo Sun, Xingjian Jing

ABSTRACT

For track-based robots, an important aspect is the suppression design, which determines the trafficability and comfort of the whole system. The trafficability limits the robot's working capability, and the riding comfort limits the robot's working effectiveness, especially with some sensitive instruments mounted on or operated. To these aims, a track-based robot equipped with a novel passive bio-inspired suspension is designed and studied systematically in this paper. Animal or insects have very special leg or limb structures which are good for motion control and adaptable to different environments. Inspired by this, a new track-based robot is designed with novel "legs" for connecting the loading wheels to the robot body. Each leg is designed with passive structures and can achieve very high loading capacity but low dynamic stiffness such that the robot can move on rough ground similar to a multi-leg animal or insect. Therefore, the trafficability and riding comfort can be significantly improved without losing loading capacity. The new track-based robot can be well applied to various engineering tasks for providing a stable moving platform of high mobility, better trafficability and excellent loading capacity. More... »

PAGES

18

References to SciGraph publications

Identifiers

URI

http://scigraph.springernature.com/pub.10.1186/s40638-017-0070-6

DOI

http://dx.doi.org/10.1186/s40638-017-0070-6

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1092655292

PUBMED

https://www.ncbi.nlm.nih.gov/pubmed/29201601


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