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首页> 外文会议>IEEE/RSJ International Conference on Intelligent Robots and Systems >Eccentric Crank Rover: A novel crank wheel mechanism with eccentric wheels
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Eccentric Crank Rover: A novel crank wheel mechanism with eccentric wheels

机译：偏心曲柄流浪者：带有偏心轮的新型曲柄轮机构

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摘要

The crank wheel mechanism, consisting of a wheel mechanism and parallel links connected to each wheel, achieved high mobility and efficiency because it has both wheels and legs in a simple structure. However, each prior model of crank wheel mechanism has had shortcomings such as mass oscillation or fragile structure. In this paper, we propose a novel crank wheel mechanism, the “Eccentric Crank Rover”(ECR), which is an enhanced crank wheel mechanism with eccentric wheels. The eccentric wheels increase the under-body clearance, and change the body trajectory from straight to trochoid curve, which has the same shape as the crank legs but opposite phase trajectory. Thus, the body itself acts as a “second” crank leg. We experimentally confirmed higher step climbability, larger clearance, and lower cost of transport than other models such as normal wheel model, eccentric wheel model, and crank wheel model without eccentric wheel.
机译：由车轮机构和连接到每个车轮的平行连杆组成的曲轴机构，由于具有简单的结构，因此具有很高的机动性和效率。但是，每个现有的曲轴机构模型都具有诸如质量振荡或结构脆弱的缺点。在本文中，我们提出了一种新颖的曲柄轮机构“偏心曲柄流浪者”（ECR），它是带有偏心轮的增强型曲柄轮机构。偏心轮增加了车身下方的间隙，并将车身轨迹从笔直曲线更改为次摆线曲线，其形状与曲柄腿相同，但相位轨迹相反。因此，车身本身充当“第二”曲柄腿。我们通过实验证实，与其他模型（例如普通轮模型，偏心轮模型和不带偏心轮的曲柄轮模型）相比，其更高的爬坡能力，更大的间隙和更低的运输成本。

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