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Four-bar linkage reconfigurable robotic wheel: Design, kinematic analysis, and experimental validation for adaptive size modification

Published online by Cambridge University Press:  13 May 2024

X. Yamile Sandoval-Castro Open the ORCID record for X. Yamile Sandoval-Castro [Opens in a new window] ,
Sergio Muñoz-Gonzalez ,
Mario A. Garcia-Murillo Open the ORCID record for Mario A. Garcia-Murillo [Opens in a new window] ,
Pedro D. Ferrusca-Monroy  and
Maxiamiano F. Ruiz-Torres
X. Yamile Sandoval-Castro*
Affiliation:
Tecnologico de Monterrey, School of Engineering and Sciences, Monterrey, Nuevo Leon, 64849, México
Sergio Muñoz-Gonzalez
Affiliation:
Departamento de Mecatrónica, Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada – Instituto Politécnico Nacional, Cerro Blanco No. 141 Col. Colinas del Cimatario, Querétaro, 76090, México
Mario A. Garcia-Murillo
Affiliation:
Department of Mechanical Engineering, Universidad de Guanajuato, Salamanca, Guanajuato, 36885, México
Pedro D. Ferrusca-Monroy
Affiliation:
Departamento de Mecatrónica, Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada – Instituto Politécnico Nacional, Cerro Blanco No. 141 Col. Colinas del Cimatario, Querétaro, 76090, México
Maxiamiano F. Ruiz-Torres
Affiliation:
Departamento de Mecatrónica, Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada – Instituto Politécnico Nacional, Cerro Blanco No. 141 Col. Colinas del Cimatario, Querétaro, 76090, México
*
Corresponding author: X. Yamile Sandoval-Castro; Email: xyamile.sc@gmail.com
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Abstract

This article presents the development of a robot capable of modifying its size through a wheel reconfiguration strategy. The reconfigurable wheel design is based on a four-bar retractable mechanism that achieves variation of the effective radius of the wheel. A reconfiguration index is introduced based on the number of retractable mechanisms that predicts the radius of configuration according to the number of mechanisms implemented in the wheel. The kinematics of the retractable mechanism is studied to determine the theoretical reconfiguration radius during the transformation process, it is also evaluated numerically with the help of the GeoGebra software, and it is validated experimentally by image analysis using the Tracker software. The transformation process of the robot is investigated through an analysis of forces that consider the wheel in contact with the obstacle, the calculation of the wheel torque and the height of the obstacle to be overcome are presented. On the other hand, the experimental validation of the robot reconfiguration process is presented through the percentage of success shown by the robot to overcome obstacles of 50, 75, 100 and 125 mm. In addition, measurements of energy consumption during the transformation process are reported. Reconfigurable wheels, capable of adapting their size, offer innovative solutions to various challenges across different applications such as robotic exploration and search and rescue missions to industrial settings. Some key issues that these wheels can address include terrain adaptability enhancing a robot’s mobility over uneven surfaces, or obstacles; enhanced robotic design; cost-effective design; space efficiency; and versatility in applications.

Keywords

reconfigurable robotreconfigurable wheelreconfiguration indexfour-bar retractable mechanismavoiding obstacleskinematicsreconfiguration process
Type
Research Article
Information
Robotica , First View , pp. 1 - 15
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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