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Kinetostatic Optimization for an Adjustable Four-Bar Based Articulated Leg-Wheel Subsystem

 

I. Introduction


 
In recent years, land-based locomotion systems for operation on unstructured terrain have generated considerable interest among researchers with increasingly diverse applications such as rough-terrain planetary explorations and disaster environments Hybrid articulated leg-wheel subsystems (of the type shown in Fig.1) are often considered in order to exploit the benefits of both legged [2, 3] and wheeled systems [4]alternate articulated leg-wheel designs (with multiple revolute/prismatic joints between the wheel and the chassis)could be realized depending upon the type, number,sequencing of the joints. Adding additional articulations increases the intermediate degree of freedom within the chain, which need to be controlled or restricted either: (i)actively by actuation, (ii) semi-actively using springs and dampers; or (iii) passively by adding some form of structural equilibration using hardware constraints.
 

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II. Background


 
A. Kinematic Synthesis
 
Dimensional/ Kinematic synthesis is the process of generating the geometry of the mechanism that will perform a specific task. In here, geometry generation means determining the lengths of the individual links that make up the mechanism to perform a desired function generation,path generation, and motion generation [17]. For all these three synthesis types, the prescribed conditions that the mechanism must satisfy are called the “precision positions”.
 
B. Kinetostatic Synthesis
 
One of the main issues which have the most effect on the performance of leg-wheel design is the force interaction between a linkage and its environment. The kinetostatic synthesis is used to assist the selection of the optimal configuration (and determine the minimum torques required)to support these external loads by structural equilibration.The goal of the articulation is to guide the attached wheel through several positions while supporting a set of specified external loads.
 

III. Design Process for Adjustable Leg-Wheel


 
Subsystem
 
Precision Point Synthesis (PPS) is coupled with optimization to realize a desired path for the wheel axle of the adjustable four-bar leg-wheel subsystem. Emphasis is
placed both on satisfying the kinematic and static specifications in both exactly at precision points in the least squares sense elsewhere.
 
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Summary