Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 14, issue 1
Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-1-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-1-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 14, issue 1
Research article
 | 
05 Jan 2023
Research article |  | 05 Jan 2023

Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism

Minghui Zhang and Yiming Su

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Short summary
A new type of wheel–leg deformation mechanism, based on an electromagnetic clutch and gear rack transmission mechanism, is designed for moving on complex terrain. The walking model is established to study the kinematics characteristics and obstacle-surmounting performance of the mechanism. The stability cone method is used to evaluate the rollover stability and anti-interference ability in order to ensure the normal operation of the mechanism.
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