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This paper presents the design and kinematic modeling of a leg-wheel transformable mechanism, consisting of a 2 degrees of freedom serial chain actuated by motors mounted on the vehicle chassis. The mechanism aims to combine the efficiency of wheeled locomotion with the adaptability of legged movement in complex environments. Solutions for the direct and inverse kinematics are provided. The concept of minimum-distance point to define the operational coordinates of the device is introduced. A study of the workspace of the mechanism was carried out to characterize its operational limits and analyze its kinematic behavior under different configurations. Finally, the simulation and experimental results of the mechanism executing a complete gait cycle are presented.

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Modeling of a 2R Leg-Wheel Transformable Mechanisms

  • 会议论文

  • 发表日期：

    2026年

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  • Héctor A. Moreno,
  • Carlos A. Mona,
  • J. Fidencio Flores,
  • Isela G. Carrera

摘要

This paper presents the design and kinematic modeling of a leg-wheel transformable mechanism, consisting of a 2 degrees of freedom serial chain actuated by motors mounted on the vehicle chassis. The mechanism aims to combine the efficiency of wheeled locomotion with the adaptability of legged movement in complex environments. Solutions for the direct and inverse kinematics are provided. The concept of minimum-distance point to define the operational coordinates of the device is introduced. A study of the workspace of the mechanism was carried out to characterize its operational limits and analyze its kinematic behavior under different configurations. Finally, the simulation and experimental results of the mechanism executing a complete gait cycle are presented.