Configuration Design of a Novel Mobile Robot with 5th Wheel
A mobile robot prototype with independent propulsion and individual steering and a 5th steerable propulsive wheel has been developed. Different prototypes with diversified wheelbase, wheel stance, clearance, stability margin, altitude of center of gravity and 5th wheel posture can be achieved by reconfiguration. And a special prototype has been made to deal with the situation that the robot will go on traverse after it is flipped over.
Daizhong Su, Qingbin Zhang and Shifan Zhu
H. Xu et al., "Configuration Design of a Novel Mobile Robot with 5th Wheel", Key Engineering Materials, Vols. 419-420, pp. 605-608, 2010