Passive legged, multi-segmented, robotic vehicle.

Hayward, David R.

Sandia National Laboratories

关键词: Motion;    Joints;    Robots;    42 Engineering;    Design;   

DOI  :  10.2172/918278
RP-ID  :  SAND2003-3610
RP-ID  :  AC04-94AL85000
RP-ID  :  918278

美国|英语

来源: UNT Digital Library

【 摘 要 】

The Passive-legged, Multi-segmented, Robotic Vehicle concept is a simple legged vehicle that is modular and scaleable, and can be sized to fit through confined areas that are slightly larger than the size of the vehicle. A specific goal of this project was to be able to fit through the opening in the fabric of a chain link fence. This terrain agile robotic platform will be composed of multiple segments that are each equipped with appendages (legs) that resemble oars extending from a boat. Motion is achieved by pushing with these legs that can also flex to fold next to the body when passing through a constricted area. Each segment is attached to another segment using an actuated joint. This joint represents the only actuation required for mobility. The major feature of this type of mobility is that the terrain agility advantage of legs can be attained without the complexity of the multiple-actuation normally required for the many joints of an active leg. The minimum number of segments is two, but some concepts require three or more segments. This report discusses several concepts for achieving this type of mobility, their design, and the results obtained for each.