Study on the Kinematics Analysis and Simulation of Space Octahedron Rolling Robot
A robot with rolling ability based on spatial octahedron,which consists of 6 vertex modules,12 telescopic unit expansion modules and 1 load module is designed. In order to controlling the robot to roll in a particular direction,the system changes the center of gravity by controlling the amount of ex...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.09.026 |
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| _version_ | 1841547506807209984 |
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| author | Han Shukui Liu Hongwei Zhao Zikai Su Zesheng |
| author_facet | Han Shukui Liu Hongwei Zhao Zikai Su Zesheng |
| author_sort | Han Shukui |
| collection | DOAJ |
| description | A robot with rolling ability based on spatial octahedron,which consists of 6 vertex modules,12 telescopic unit expansion modules and 1 load module is designed. In order to controlling the robot to roll in a particular direction,the system changes the center of gravity by controlling the amount of expansion and contraction quantity between the telescopic rods. In this study,the process of forward kinematics solution and inverse kinematics solution of the robot are analyzed. According to the analysis,by using the ADAMS software,the dynamic simulation of the movement of the robot,which contain the simulation for gait planning and climbing obstacle capability is finished. Through the result of the dynamic simulation,the correctness of kinematics analysis is validated,and the motion curve of the robot vertices and the centroid is also obtained. The method and simulation results of the kinematics analysis of this study provide an important basis for the optimization design of the space polyhedron rolling robot. |
| format | Article |
| id | doaj-art-99b13c01c4dd4c3088538ac652c18d52 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-99b13c01c4dd4c3088538ac652c18d522025-01-10T14:40:16ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-014213513929938565Study on the Kinematics Analysis and Simulation of Space Octahedron Rolling RobotHan ShukuiLiu HongweiZhao ZikaiSu ZeshengA robot with rolling ability based on spatial octahedron,which consists of 6 vertex modules,12 telescopic unit expansion modules and 1 load module is designed. In order to controlling the robot to roll in a particular direction,the system changes the center of gravity by controlling the amount of expansion and contraction quantity between the telescopic rods. In this study,the process of forward kinematics solution and inverse kinematics solution of the robot are analyzed. According to the analysis,by using the ADAMS software,the dynamic simulation of the movement of the robot,which contain the simulation for gait planning and climbing obstacle capability is finished. Through the result of the dynamic simulation,the correctness of kinematics analysis is validated,and the motion curve of the robot vertices and the centroid is also obtained. The method and simulation results of the kinematics analysis of this study provide an important basis for the optimization design of the space polyhedron rolling robot.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.09.026Space octahedral rolling robotKinematics analysisGait planningClimbing obstacle capability |
| spellingShingle | Han Shukui Liu Hongwei Zhao Zikai Su Zesheng Study on the Kinematics Analysis and Simulation of Space Octahedron Rolling Robot Jixie chuandong Space octahedral rolling robot Kinematics analysis Gait planning Climbing obstacle capability |
| title | Study on the Kinematics Analysis and Simulation of Space Octahedron Rolling Robot |
| title_full | Study on the Kinematics Analysis and Simulation of Space Octahedron Rolling Robot |
| title_fullStr | Study on the Kinematics Analysis and Simulation of Space Octahedron Rolling Robot |
| title_full_unstemmed | Study on the Kinematics Analysis and Simulation of Space Octahedron Rolling Robot |
| title_short | Study on the Kinematics Analysis and Simulation of Space Octahedron Rolling Robot |
| title_sort | study on the kinematics analysis and simulation of space octahedron rolling robot |
| topic | Space octahedral rolling robot Kinematics analysis Gait planning Climbing obstacle capability |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.09.026 |
| work_keys_str_mv | AT hanshukui studyonthekinematicsanalysisandsimulationofspaceoctahedronrollingrobot AT liuhongwei studyonthekinematicsanalysisandsimulationofspaceoctahedronrollingrobot AT zhaozikai studyonthekinematicsanalysisandsimulationofspaceoctahedronrollingrobot AT suzesheng studyonthekinematicsanalysisandsimulationofspaceoctahedronrollingrobot |