A Reconfigurable Multi-mode Walking-rolling Mobile Robot
In order to meet the requirements of multiple terrain environments，a new reconfigurable multi-mode mobile robot with walking，deformation and rolling ability is proposed，which can change different motion modes according to terrain and improve the adaptability to unstructured terrain. The singularity...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.06.029 |
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| Summary: | In order to meet the requirements of multiple terrain environments，a new reconfigurable multi-mode mobile robot with walking，deformation and rolling ability is proposed，which can change different motion modes according to terrain and improve the adaptability to unstructured terrain. The singularity of the robot in each motion mode is found out by using screw theory，and the feasibility in each motion mode is analyzed. Simulation experiments in the multiple feature terrain are carried out with ADAMS software. The simulation results demonstrate the advantages in gait，stability and multiple environment adaptability. Finally the feasibility of various motion modes is also verified by the prototype experiments. |
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| ISSN: | 1004-2539 |