Figure 1 | Scientific Reports

Figure 1

From: Design exploration and comparative analysis of tail shape of tri-wheel-based stair-climbing robotic platform

Figure 1

Simple models of the five tail mechanisms: (a) Basic tail mechanism (DOF1=0, DOF2=2), (b) Curved linkage mechanism (DOF1 = 2, DOF2 = 4), (c) Tri-wheel mechanism (DOF1 = 8, DOF2 = 10), (d) Compliant mechanism with torsion spring and rotary damper (CPL-SD) (DOF1 = 3, DOF2 = 5), and (e) Compliant mechanism with translational spring (CPL-S) (DOF1 = 4, DOF2 = 6). Degree of freedom of the tail mechanism is presented for the case of considering only tail mechanism parts (DOF1) and the case of considering the whole robotic system (DOF2). Software used for this figure: Microsoft PowerPoint Microsoft 365 MSO (Version 2209 Build 16.0.15629.20200) 64-Bit (https://www.microsoft.com/en-us/microsoft-365/powerpoint), Autodesk Inventor 2023.1.1 (https://www.autodesk.com/products/inventor/overview?term=1-YEAR &tab=subscription).

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