Augmented Vehicle Wheels „Cat Claws” Inspired

摘要

The performance of the locomotion of a mobile robot on the ground can be improved by adapting the shape or construction of the wheels to different needs, from climbing stairs in a building to climbing an obstacle or an inclined terrain. Thus, various combinations between wheels, crawlers, and legs can be achieved, where each combination solves the problem in a specific way. In this study, we designed a mechanism that can augment an ordinary wheel, by adding retractable “claws”, like the claws of a cat. In our study, the actuation of the “claws” is done using a servomotor, at which point the robot is stopped from moving, to open the “claws”, then these can remain open while the robot moves in the chosen environment. The design of the “claws” can be adapted to various needs, from climbing stairs to climbing obstacles or moving on soft or slippery terrain.