Preliminary Design and Kinematic Analysis of a Mobility Platform with Two Actuated Spoke Wheels

IMPASS (Intelligent Mobility Platform with Active Spoke System) is a novel locomotion system concept that utilizes rimless wheels with individually actuated spokes to provide the ability to step over large obstacles like legs, adapt to uneven surfaces like tracks, yet retaining the speed and simplicity of wheels. Since it lacks the complexity of legs and has a large effective (wheel) diameter, this highly adaptive system can move over extreme terrain with ease while maintaining respectable travel speeds. This paper presents the concept, preliminary kinematic analyses and design of an IMPASS based robot with two actuated spoke wheels and an articulated tail. The actuated spoke wheel concept allows multiple modes of motion, which give it the ability to assume a stable stance using three contact points per wheel, walk with static stability with two contact points per wheel, or stride quickly using one contact point per wheel. Straight-line motion and considerations for turning are discussed for the oneand two-point contact schemes followed by the preliminary design and recommendations for future study. Index Terms – IMPASS, rimless wheel, actuated spoke wheel, mobility, locomotion.

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