WORK PARTNER - HUT-AUTOMATION'S NEW HYBRID WALKING MACHINE

摘要

The paper introduces a new platform with hybrid locomotion capability. It is designed for a service robot, called WorkPartner, used mainly in outdoor environment when doing work interactively with human operator. The estimated weight of the platform is about 160 kg and the pay load about 60 kg. The actuation system is fully an electrical one and the power system a hybrid one with battery and a 3 kW combustion engine. The locomotion system includes legs with foot replaced by a wheel. It allows motion in three mode, with legs only, with legs and wheels powered at the same time or with wheels only. With wheels the machine is designed obtain 12 km/hour speed on a hard ground. The purpose of the hybrid locomotion system is to provide a rough terrain capability and a wide speed range for the machine at the same time. The paper describes the basic design of the new machine and introduces some theoretical analysis of the hybrid locomotion mode.