Table 1 Specifications of the ePaddle prototype module
From: Design of a high-mobility multi-terrain robot based on eccentric paddle mechanism
| Item | Description |
|---|---|
| Paddle | |
| Dimensions | Length, L: 96.5 mm; width: 63 mm; thickness: 2 mm |
| Moving range | \(R_S = L_A + L_B = 40\) mm, where \(L_A = L_B\) |
| Material | Aluminum alloy (A5052) |
| Weight | 36 g (eight lugs with eight paddle-hinges) |
| Wheel shell | |
| Dimensions | Outer radius, \(R_A\): 56.5 mm; width: 113 mm; |
| Material | Aluminum alloy (A5052) |
| Wheel-rim-hinges | |
| Dimensions | Pitch circle radius, \(R_H\): 50 mm |
| Materials | Aluminum alloy (A5052) |
| Assembled module | |
| Weight | 3.7 kg (with three motors) |