Mobile robot design with linkage-based reaction wheel mechanism for horizontal-vertical force transmission

Abstract

Autonomous mobile robots have also found widespread application in general human environments, including delivery and service roles. This study showcases the stable step-climbing performance and robust mobility of such robots through vertical force transfer using a linkage-based reaction wheel mechanism. The wheel mechanism features rotational joints and a translational link that are attached to the drive wheel. We introduce the concept of the linkage-based reaction wheel mechanism and examine the constraints involved in constructing the system. Kinematic constraints and design variables for each link length are proposed based on the mechanism variables of the drive wheel for a four-wheel mobile robot. The robot provides the necessary torque and simulation data to overcome steps. The force required to lift the robot is maximized by applying force in the horizontal direction along the link. Experiments were conducted in various environments to demonstrate the excellent step-climbing performance of the linkage-based reaction wheel mechanism across different step heights using a fabricated prototype robot.