Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 7, Issue 2, Pages 914-920Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3096223
Keywords
Mobile platform; modular wheel; overcoming obstacle; service robot; transformable wheel
Categories
Funding
- Basic Science Research Program through the National Research Foundation of Korea - Ministry of Education [NRF-2016R1D1A1B03935516, NRF-2019R1A2C1008163]
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This study presents modular transformable wheels capable of overcoming obstacles. The structure and transformation mechanism of the wheels are introduced, and the ability to climb up and down a staircase is experimentally verified.
This study presents modular transformable wheels capable of overcoming obstacles. They can be used for indoor service robots or service platforms such as wheelchairs and baby carriages, which often move up and down on thresholds or on sidewalks. The structure of the wheel and transformation mechanism are introduced. The wheel has two built-in brushless DC (BLDC) motors. The BLDC motor is remodeled to add the gear box inside. These motors create a two-degree-of-freedom (2-DOF) transformation of the wheel. The 2-DOF mechanism is achieved by a 7-bar linkage with six rotational joints and one prismatic joint. A platform using the presented modular transformable wheels was used to experimentally verify the ability to climb up and down a staircase.
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