Design of articulated leg-wheel subsystem by kinetostatic optimization
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- 作者：Aliakbar Alamdari ; aalamdar@buffalo.edu" class="auth_mail" title="E-mail the corresponding author ; Venkat N. Krovi vkrovi@buffalo.edu" class="auth_mail" title="E-mail the corresponding author
- 关键词：Kinetostatic synthesis ; Design parameter optimization ; Articulated leg&ndash ; wheel subsystem
- 刊名：Mechanism and Machine Theory
- 出版年：2016
- 出版时间：June 2016
- 年：2016
- 卷：100
- 期：Complete
- 页码：222-234
- 全文大小：1155 K
文摘
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Exploring the use of various candidate articulated leg-wheel subsystem designs to enhance locomotion capabilities of land-based vehicles.
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Employing systematic kinetostatic design approaches coupled with optimization to determine the link length/spring constant parameters.
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Achieving the greatest motion-ranges between wheel-axle and chassis.
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Reducing the overall actuation requirements by spring assist.