运动学
模块化设计
变形
联动装置(软件)
循环(图论)
反向动力学
计算机科学
匹配(统计)
节点(物理)
机器人
拓扑(电路)
工程类
控制理论(社会学)
控制工程
数学
人工智能
结构工程
物理
化学
控制(管理)
电气工程
组合数学
操作系统
统计
基因
经典力学
生物化学
作者
Yaobin Tian,Xianwen Kong,Kun Xu,Xilun Ding
出处
期刊:Journal of Mechanisms and Robotics
[ASME International]
日期:2021-02-01
摘要
Abstract This paper proposes a new kind of modular rolling robot called multi-loop rover (MLR), which is essentially a multi-loop linkage that is able to roll and switch its rolling directions. For ease of rolling, the MLR retains a multi-loop topological structure composed of a number of strut and node modules. First, the modular design and assembling method are introduced to construct an MLR. Then, the mobility is analyzed based on screw theory, and a brief formula is presented to calculate the degree-of-freedoms of the robot. The results show that all node modules only have translational motions, which can significantly reduce the complexity of kinematics. The forward and inverse kinematics are conducted to show the deformation properties. Based on the kinematic rolling principle, the morphing strategies for rolling and turning functions are developed. Finally, a physical prototype is manufactured and a serial of experiments are carried out to verify the proposed method.
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