Design of a mobile platform with passive involute-shape auxiliary devices

This paper presents a new design for a mobile platform with passive involutes auxiliary devices. Based on an analysis of currently available solutions for mobile platforms, a major new concept is proposed for better mechanism, actuation, and functionality. We designed a novel passive actuated, involute-shape and position-controlled auxiliary wheels to assist the platform to perform an energy-efficient and controllable transverse motion over obstacles, as well as the capability to predetermine the geometric re-positioning according to the size of hurdles. The advantages of the mechanism and motion transmission chain of this platform are described. Passive motion control and adaptive actuation control structures of the wheels are analyzed. In addition, kinematics and dynamics of the platforms' movement has been simulated in Matlab. Two design problems are also discussed and summarized.