Configuration Design and Gait Analysis of Wheel-Legged Mobile Robot Based on the Rubik's Cube Mechanism

Traditional mobile robots have limitations in obstacle-crossing ability, motion stability and load-bearing capacity in complex environments, which make them difficult to be applied on a large scale. Based on the Rubik's Cube mechanism (RCM) with strong coupling and variable topology, a polymorp...

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Veröffentlicht in:	IEEE access 2022, Vol.10, p.84473-84485
Hauptverfasser:	Lu, Wenjuan, Zeng, Jiahao, Dong, Shihao, Fan, Dabao, Liu, Ya, Zeng, Daxing, Cao, Miaoyan
Format:	Artikel
Sprache:	eng
Schlagworte:	Barriers Bearing capacity configuration design Configuration management Design Feasibility studies Flanges Force Gait Gait analysis Legged locomotion Mechanical properties mobile robot Mobile robots Motion stability Polymorphism Robot dynamics Robot kinematics Rubik’s Cube mechanism Stability analysis Topology Wheels
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