一种新型柔性全向轮变换模块
Novel Compliant omnicrawler-wheel transforming module
摘要：
提出了一种新型的履带式机器人的设计方案，该机器人通过一种新型的机构将其底盘从全履带式转向大型轮式。转换发生在没有任何额外的致动器的情况下。有趣的是，机器人可以转换成一个大直径和小宽度的车轮，这增强了它的机动性，如小转弯半径和快速/有效的运动。本文的贡献，改善以前开发的混合柔顺omnicrawler机器人CObRaSO的运动模式。除了腿和跟踪机制，CObRaSO现在可以显示大轮模式，这有助于其运动能力。文中详细介绍了机器人的机械设计，并进行了变形实验和力矩分析
英文摘要：
This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism. The transformation occurs without any additional actuators. Interestingly the robot can transform into a large diameter and small width wheel which enhances its maneuverability like small turning radius and fast/efficient locomotion. This paper contributes on improving the locomotion mode of previously developed hybrid compliant omnicrawler robot CObRaSO. In addition to legged and tracked mechanism, CObRaSO can now display large wheel mode which contributes to its locomotion capabilities. Mechanical design of the robot has been explained in a detailed manner in this paper and also the transforming experiment and torque analysis has been shown clearly
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
