TAILIEUCHUNG - McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 11

Tham khảo tài liệu 'mcgraw-hill - robot mechanisms and mechanical devices illustrated - 2003 part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 214 Chapter 7 Walkers ROLLER-WALKERS A special category of walkers is actually a hybrid system that uses both legs and wheels. Some of these types have the wheels mounted on fixed legs others have the wheels mounted on legs that have one or two degrees of freedom. There doesn t seem to be any widely accepted term for these hybrids but perhaps roller walkers will suffice. A commercially available roller walker has one leg with a wheel on its end and two jointed legs with no wheels each with three DOF. The machine is a logging machine that can stand level even on very steep slopes. Although this machine looks ungainly with its long legs with a wheel on one of them it is quite capable. Because of its slow traverse speed it is transported to a job sight on the back of a special truck. Wheels on legs can be combined to form many varieties of roller walkers. Certain terrain types may be more easily traversed with this unusual mobility system. The concept is gaining wider appeal as it becomes apparent a hybrid system can combine the better qualities of wheeled and legged robots. If contemplating designing a roller walker it may be more effective to think of the mobility system as a wheeled vehicle with the wheels mounted on jointed appendages rather than a walking vehicle with wheels. The biggest limitation of walkers is still top speed. This limitation is easily overcome by wheels. A big limitation of a wheeled vehicle is getting over obstacles that are higher than the wheels. The ability to raise a wheel or reconfigure the vehicle s geometry to allow a wheel to easily drive up a high object reduces this limitation. There are several researchers working on roller walkers. There are no figures included here but the reader is urged to investigate these web sites http http www. MEL mainlab rob FLEXIBLE LEGS A trick taken from animals and being tested in mobility labs is the use of flexible-leg elements. A compliant member can .

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