1P1-B08 Kinematics and Dynamics Modeling of the Planetary Gear Transmission in An Eccentric Paddle Mechanism(Smart Mechanism "sMechanism" and its Control)

Abstract

Eccentric paddle mechanism (ePaddle) is a novel locomotion mechanism for accessing challenge amphibious terrains. A planetary gear transmission chain is applied in this mechanism. In this paper, we propose a systematic method for modeling the kinematic and dynamic models of this gear transmission.