Design, construction, and testing of a new class of mobile robots.

机译：新型移动机器人的设计，建造和测试。

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This thesis introduces a novel mobile robot design concept aimed at exploration of subterranean spaces. The key innovation is the combination of highly maneuverable body elements with wheel/leg elements (Whegs). This combination offers performance not possible with conventional "monolithic" wheeled or tracked mobile robots, or with current robot snakes. The thesis covers four design iterations of the concept, concentrating on describing the overall design process and results from field tests. Additionally a kinematic analysis of the fourth prototype and implications for future designs is presented.

机译：本文介绍了一种新颖的移动机器人设计概念，旨在探索地下空间。关键创新是将高度可操纵的车身元素与车轮/腿元素（Whegs）相结合。这种组合提供了传统的“整体式”带轮或履带式移动机器人或当前的蛇形机器人无法实现的性能。本文涵盖了该概念的四个设计迭代，重点描述了整个设计过程和现场测试的结果。此外，还对第四个原型进行了运动学分析，并对将来的设计产生了影响。

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作者
Siles Yuste, Ivan.;
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作者单位

Clemson University.;

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授予单位 Clemson University.;
学科 Engineering Electronics and Electrical.;Engineering Mechanical.;Engineering Robotics.
学位 M.S.
年度 2009
页码 83 p.
总页数 83
原文格式 PDF
正文语种 eng
中图分类无线电电子学、电信技术;机械、仪表工业;
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Design, construction, and testing of a new class of mobile robots.

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