A Novel Hybrid Locomotion Mechanism for Small Mobile Robot

摘要

A novel design of hybrid locomotion system for mobile robots is presented in this paper. The wheel and track type combined motion­system used,­which­results as­a­hybrid locomotion mechanism that includes­a­robot flexible and­­versatile interchangeable locomotion. This robot has a switchover module (Track Tensioner unit) that helps the robot to change wheel mechanism from track mechanism. The switchover module operated by means of rack and pinion mechanism, with the­force­exerted­by­pinion on mating­rack. The­switchover module slides­upward­and­downward­depends on the direction of pinion rotation. This hybrid mobile robot will be able to work in all type of terrains.Keywords: Hybrid Mechanism, Locomotion System, Mechanical Design, Mobile Robot, Mobility System