Details

Autor(en) / Beteiligte

• Dharmawan, Audelia G.
• Koh, Darren C. Y.
• Soh, Gim Song
• Foong, Shaohui
• Bouffanais, Roland
• Wood, Kristin L.

Titel

Tail Design of A Miniature Two-Wheg Climbing Robot for External Transitioning

Ist Teil von

• Advances in Mechanism and Machine Science, p.2139-2148

Ort / Verlag

Cham: Springer International Publishing

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• Plane-to-plane transitioning is essential for climbing robots to overcome obstacles. In existing literature, additional actuator or robot module is usually required for external transitioning, which significantly increases both size and weight of the robot. Recently, it has been shown [1] that a simple passive vertical tail can aid a lot in achieving external transitioning. This paper extends that finding and outlines a quasi-static kinematic procedure to design the tail shape for increased performance. The systematic approach is described, followed by a discussion of the results obtained. The outcome of the approach can be used to design the shape of the climbing robot’s tail which enhances certain criteria for transitioning, such as the adhesive and motor torque requirements.