Optimum Design for a New Reconfigurable Two-Wheeled Self-Balancing Robot Based on Virtual Equivalent Parallel Mechanism
Bibliographic record
Abstract
Abstract Two-wheeled self-balancing robot (TWSBR) is a mobile robot with a wide application in security, rescue, entertainment, and other fields. To make the robot obtain a larger range of the controllable inclination angle, a reconfigurable mechanism of the moment of inertia is designed for the TWSBR, and the energy consumption of the reconfigurable mechanism is reduced by a gravity compensation mechanism. This paper constructs a virtual equivalent parallel mechanism (VEPM) to model the robot-ground system combining the robot and the ground. The kinematics, dynamic model, and performance indexes of the VEPM are solved based on the vector method, the Lagrangian dynamics, and the screw theory. Then, the dimensions of the mechanism are optimized based on the comprehensive performance analysis. Finally, the effectiveness of the optimization algorithm and gravity compensation mechanism is verified through simulation and motion experiments. The reconfigurable mechanism enables the TWSBR to stand up, step up, and surmount obstacles. The performance analysis and optimal design approaches proposed in this paper have positive significance for the systematic modeling and optimal design of two-wheeled and two-legged robots.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.003 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".