Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-1-2023
https://doi.org/10.5194/ms-14-1-2023
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

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Aoki, T., Asami, K., Ito, S., and Waki, S.: Development of quadruped walking robot with spherical shell: improvement of climbing over a step, Robomech. J., 7, 22, https://doi.org/10.1186/s40648-020-00170-5, 2020. 
Baishya, N. J., Bhattacharya, B., Ogai, H., and Tatsumi, K.: Design of an anti-slip mechanism for wheels of step climbing robots, Actuators, 10, 259, https://doi.org/10.3390/act10100259, 2021. 
Chen, H., Wang, T., Ho, K., Ko, C., Lin, P., and Lin, P.: Development of a novel leg-wheel module with fast transformation and leaping capability, Mech. Mach. Theory, 163, 104348, https://doi.org/10.1016/j.mechmachtheory.2021.104348, 2021. 
Cong, P., Liu, J., and Feng, X.: Mechanism design and simulation analysis of deformable wheeled Mobile Robot, Journal of Mechanical Transmission, 45, 76–83, https://doi.org/10.16578/j.issn.1004.2539.2021.08.011, 2021. 
Ding, D. and Zhang, S.: Design and research of a variable-diameter wheel-legged obstacle overcoming robot, Mechanical Science and Technology for Aerospace Engineering, 1–8, https://doi.org/10.13433/j.cnki.1003-8728.20220014, online first, 2022. 
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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.