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Design and Control for WLR-3P: A Hydraulic Wheel-Legged Robot
The robot used for disaster rescue or field exploration requires the ability of fast moving on flat road and adaptability on complex terrain. The hybrid wheel-legged robot (WLR-3P, prototype of the third-generation hydraulic wheel-legged robot) has the characteristics of fast and efficient mobility...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
AAAS
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10250005/ https://www.ncbi.nlm.nih.gov/pubmed/37303861 http://dx.doi.org/10.34133/cbsystems.0025 |
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author | Li, Xu Yu, Haoyang Feng, Haibo Zhang, Songyuan Fu, Yili |
author_facet | Li, Xu Yu, Haoyang Feng, Haibo Zhang, Songyuan Fu, Yili |
author_sort | Li, Xu |
collection | PubMed |
description | The robot used for disaster rescue or field exploration requires the ability of fast moving on flat road and adaptability on complex terrain. The hybrid wheel-legged robot (WLR-3P, prototype of the third-generation hydraulic wheel-legged robot) has the characteristics of fast and efficient mobility on flat surfaces and high environmental adaptability on rough terrains. In this paper, 3 design requirements are proposed to improve the mobility and environmental adaptability of the robot. To meet these 3 requirements, 2 design principles for each requirement are put forward. First, for light weight and low inertia with high stiffness, 3-dimensional printing technology and lightweight material are adopted. Second, the integrated hydraulically driven unit is used for high power density and fast response actuation. Third, the micro-hydraulic power unit achieves power autonomy, adopting the hoseless design to strengthen the reliability of the hydraulic system. What is more, the control system including hierarchical distributed electrical system and control strategy is presented. The mobility and adaptability of WLR-3P are demonstrated with a series of experiments. Finally, the robot can achieve a speed of 13.6 km/h and a jumping height of 0.2 m. |
format | Online Article Text |
id | pubmed-10250005 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | AAAS |
record_format | MEDLINE/PubMed |
spelling | pubmed-102500052023-06-09 Design and Control for WLR-3P: A Hydraulic Wheel-Legged Robot Li, Xu Yu, Haoyang Feng, Haibo Zhang, Songyuan Fu, Yili Cyborg Bionic Syst Research Article The robot used for disaster rescue or field exploration requires the ability of fast moving on flat road and adaptability on complex terrain. The hybrid wheel-legged robot (WLR-3P, prototype of the third-generation hydraulic wheel-legged robot) has the characteristics of fast and efficient mobility on flat surfaces and high environmental adaptability on rough terrains. In this paper, 3 design requirements are proposed to improve the mobility and environmental adaptability of the robot. To meet these 3 requirements, 2 design principles for each requirement are put forward. First, for light weight and low inertia with high stiffness, 3-dimensional printing technology and lightweight material are adopted. Second, the integrated hydraulically driven unit is used for high power density and fast response actuation. Third, the micro-hydraulic power unit achieves power autonomy, adopting the hoseless design to strengthen the reliability of the hydraulic system. What is more, the control system including hierarchical distributed electrical system and control strategy is presented. The mobility and adaptability of WLR-3P are demonstrated with a series of experiments. Finally, the robot can achieve a speed of 13.6 km/h and a jumping height of 0.2 m. AAAS 2023-06-08 /pmc/articles/PMC10250005/ /pubmed/37303861 http://dx.doi.org/10.34133/cbsystems.0025 Text en Copyright © 2023 Xu Li et al. https://creativecommons.org/licenses/by/4.0/Exclusive Licensee Beijing Institute of Technology Press. No claim to original U.S. Government Works. Distributed under a Creative Commons Attribution License 4.0 (CC BY 4.0). |
spellingShingle | Research Article Li, Xu Yu, Haoyang Feng, Haibo Zhang, Songyuan Fu, Yili Design and Control for WLR-3P: A Hydraulic Wheel-Legged Robot |
title | Design and Control for WLR-3P: A Hydraulic Wheel-Legged Robot |
title_full | Design and Control for WLR-3P: A Hydraulic Wheel-Legged Robot |
title_fullStr | Design and Control for WLR-3P: A Hydraulic Wheel-Legged Robot |
title_full_unstemmed | Design and Control for WLR-3P: A Hydraulic Wheel-Legged Robot |
title_short | Design and Control for WLR-3P: A Hydraulic Wheel-Legged Robot |
title_sort | design and control for wlr-3p: a hydraulic wheel-legged robot |
topic | Research Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10250005/ https://www.ncbi.nlm.nih.gov/pubmed/37303861 http://dx.doi.org/10.34133/cbsystems.0025 |
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