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Design and Implementation of a Two-Wheeled Inverted Pendulum Robot With a Sliding Mechanism for Off-Road Transportation by Sungho Lee; Sungwoon Yoon; Yonghwan Jeong; Jaehong Seo; Sangshin Park; Sangchul Han; Jin Tak Kim; Jinhyeon Kim; Hyouk Ryeol Choi; Jungsan Cho is a Engineering article available to read on EtoBox.
What is Design and Implementation of a Two-Wheeled Inverted Pendulum Robot With a Sliding Mechanism for Off-Road Transportation about?
This letter proposes a multi-degrees-of-freedom twowheeled inverted pendulum robot (mD-TWIPR) for off-road transportation. A two-wheeled inverted pendulum robot (TWIPR), popularly known as a segway, has high mobility owing to its simple structure without steering or suspension. The proposed robot has a car-like structure with a low and elongated body that provides advantages for transporting long objects, such as pipes, or transferring patients on off-road terrain. However, a car-like TWIPR structure faces several challenges, including limited acceleration, difficulty traversing slopes, asymmetric payload, and lower ability to climb steps. To address these issues, we implemented a sliding mechanism in the mD-TWIPR. The proposed mD-TWIPR is designed to move without tilting while carrying movable mass, and tilt the torso according to the 20 • slope. It can also maintain stationary on a slope with only a small wheel torque by positioning the center of mass on the fulcrum, which is advantageous for transportation operations. Furthermore, it can climb a step using a combination of the wheel and sliding mechanism. The paper discusses the modeling and design specifications and presents a
Who reads Design and Implementation of a Two-Wheeled Inverted Pendulum Robot With a Sliding Mechanism for Off-Road Transportation?
It is typically read by researchers, students, and practitioners in Engineering.
- Author
- Sungho Lee; Sungwoon Yoon; Yonghwan Jeong; Jaehong Seo; Sangshin Park; Sangchul Han; Jin Tak Kim; Jinhyeon Kim; Hyouk Ryeol Choi; Jungsan Cho
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Published
- 2023
- Language
- EN
- Field
- Engineering (Physical Sciences)