In this paper, the concept of the Intelligent Mobility Platform with Active Spoke System (IMPASS) is introduced in the first place as an alternative locomotive method that allows for multiple modes of motion. Based on this concept, a walking machine with two actuated spoke wheels and one tail is developed. Observations on the motion of this mobile robot indicate that it is able to change its topology by changing the contact scheme of its spokes with the ground. In order to investigate its transformable configuration, the robot is treated as a mechanism with variable topologies (MVTs) and the Modified Grübler–Kutzbach criterion is adopted to identify the degrees of freedom (DOF) for each case of its topological structures. The mobility analysis demonstrates that, with the assistance of Grassmann Line Geometry, the DOF in all possible configurations can be determined straightforward. The nature of the IMPASS’ locomotion is revealed through the mobility analysis and the theoretical results are validated with an experimental prototype.
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e-mail: dhong@vt.edu
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November 2011
Research Papers
Mobility Analysis of a Spoked Walking Machine With Variable Topologies
Dennis Hong
e-mail: dhong@vt.edu
Dennis Hong
Department of Mechanical Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Virginia Polytechnic Institute and State University
, Blacksburg, VA 24061
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Dennis Hong
Department of Mechanical Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Virginia Polytechnic Institute and State University
, Blacksburg, VA 24061e-mail: dhong@vt.edu
J. Mechanisms Robotics. Nov 2011, 3(4): 041005 (16 pages)
Published Online: September 26, 2011
Article history
Received:
September 9, 2010
Revised:
July 15, 2011
Online:
September 26, 2011
Published:
September 26, 2011
Citation
Ren, P., and Hong, D. (September 26, 2011). "Mobility Analysis of a Spoked Walking Machine With Variable Topologies." ASME. J. Mechanisms Robotics. November 2011; 3(4): 041005. https://doi.org/10.1115/1.4004892
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