Abstract
Following mechatronic design methodology this paper introduces a phase-shifting double-wheg-module which forms an alternative approach for wheg-driven robots. During construction focus was placed on a smooth locomotion of the wheg-mechanism over flat terrain (low alternation of the CoM in vertical y-direction) as well as the ability to overcome obstacles. Simulations using the multi-body simulation tool ADAMS View® were executed in order to prove estimations done. Using the results of simulation and calculation a first prototype was designed, manufactured and tested by experiment.
This work is supported by NATO grant EAP.SFP 984560 and the ‘Thüringer Innovationszentrum Mobilität (ThIMo)’ in line with the project ‘Silvermobility - Nahfeldmobilitätskonzepte für die Altersgruppe 50+’ (no. 2011FGR0127) funded by the European Social Fond (ESF), and the Thuringian ministry of economy, work and technology TMWAT via ‘Thüringer Aufbaubank’ (TAB).
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Fremerey, M. et al. (2014). A Phase-Shifting Double-Wheg-Module for Realization of Wheg-Driven Robots. In: Duff, A., Lepora, N.F., Mura, A., Prescott, T.J., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2014. Lecture Notes in Computer Science(), vol 8608. Springer, Cham. https://doi.org/10.1007/978-3-319-09435-9_9
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DOI: https://doi.org/10.1007/978-3-319-09435-9_9
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