A deformable tetrahedron rolling mechanism (DTRM) based on URU branch

Li, Yezhuo; Wang, Zhirui; Xu, Yunhua; Dai, Jian S.; Zhao, Ziming; Yao, Yan‐an

doi:10.1016/j.mechmachtheory.2020.104000

Cited by 10 publications

(9 citation statements)

References 25 publications

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“…Omni‐directional rolling capability of the robot is emphasized as well as advantageous working space offered by universal–revolute–universal chains compared with linear actuators. The experiments of obstacle and slope climbing of the robot are shown in Figure 9 (Y. Li et al, 2020). Another example of a truss structured SRMR based on inflatable legs is proposed in Usevitch et al (2020).…”

Section: Mechanical Design Aspects and Future Directionsmentioning

confidence: 99%

“…Experiments for (a) obstacle and (b) slope climbing conducted in Y. Li et al (2020) [Color figure can be viewed at wileyonlinelibrary.com]…”

Section: Mechanical Design Aspects and Future Directionsmentioning

confidence: 99%

“…This structure is not frequently preferred in the literature whereas it might be important in developing specialized manipulator systems and new examples can be expected to serve for this purpose. One of the recent examples of truss structured SRMRs is presented in Y. Li et al (2020). The robot has a tetrahedral shape that relies on a variable platform with three‐chained parallel mechanism.…”

Section: Mechanical Design Aspects and Future Directionsmentioning

confidence: 99%

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Achievements and future directions in self‐reconfigurable modular robotic systems

DOKUYUCU

Özmen

2022

Journal of Field Robotics

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Section: Mechanical Design Aspects and Future Directionsmentioning

confidence: 99%

“…Experiments for (a) obstacle and (b) slope climbing conducted in Y. Li et al (2020) [Color figure can be viewed at wileyonlinelibrary.com]…”

Section: Mechanical Design Aspects and Future Directionsmentioning

confidence: 99%

Section: Mechanical Design Aspects and Future Directionsmentioning

confidence: 99%

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Achievements and future directions in self‐reconfigurable modular robotic systems

DOKUYUCU

Özmen

2022

Journal of Field Robotics

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“…With reconfigurable trunk, the platform gave full play to the leg movement in climbing obstacles. A novel deformable tetrahedron rolling mechanism was put forward (Li et al , 2020). It was constructed by four vertices and six edges corresponding to four platforms and six URU chains.…”

Section: Introductionmentioning

confidence: 99%

Design and locomotion analysis of a close-chain leg-wheel mobile platform

Xia

Ruan²

2022

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Purpose To take the advantages of terrain-adaptive capability of legged platform and fast-moving ability of wheeled platform, this paper aims to design a leg-wheel mobile platform for obstacle surmounting and analyze the feasibility and locomotivity of different moving modes. Design/methodology/approach The platform consists of six leg-wheel units. Each of the units has a close-chain mechanical leg and an actuated wheel at the end of the leg. The platform moves with two modes: legged mode and leg-wheel composite mode. The legged mode achieves high mobility driven by crank motors, while the leg-wheel composite mode achieves obstacle-surmounting ability actuated by crank motors and pitch link motors and obtains high efficiency with the hub motors. The gait planning in different modes has been carried out and the obstacle-surmounting capacity has been analyzed. Findings Based on the results of kinematic analysis and gait planning of the close-chain leg-wheel platform, the high mobility and efficiency obstacle-surmounting ability are demonstrated with the two movement modes. The feasibility of the design and the performance of the mobile platform is verified with the prototype experiment. The results of this paper show that the platform possesses good obstacle-surmounting capability. Originality/value The work presented in this paper is a novel exploration to design a close-chain leg mechanism and with an actuated wheel in series. The close-chain leg mechanism has the advantages of high leg lift and single degree of freedom characteristics, which makes the platform obtain the ability of obstacle-surmounting.

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“…Usevitch et al (2020) designed an untethered isoperimetric soft robot with a deltahedron structure. Li et al (2020) proposed a tetrahedron robot with flexible joints and non-impact rolling gait were planned to reduce displacement error.…”

Section: Introductionmentioning

confidence: 99%

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

Wang

et al. 2021

Self Cite

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Purpose The purpose of this paper is to introduce a tetrahedral mobile robot with only revolute joints (TMRR). By using rotation actuators, the mechanism of the robot gains favorable working space and eliminates the engineering difficulties caused by the multilevel extension compared with liner actuators. Furthermore, the rolling locomotion is improved to reduce displacement error based on dynamics analysis. Design/methodology/approach The main body of deforming mechanism with a tetrahedral exterior shape is composed of four vertexes and six RRR chains. The mobile robot can achieve the rolling locomotion and reach any position on the ground by orderly driving the rotation actuators. The global kinematics of the mobile modes are analyzed. Dynamics analysis of the robot falling process is carried out during the rolling locomotion, and the rolling locomotion is improved by reducing the collision impulse along with the moving direction. Findings Based on global kinematics analysis of TMRR, the robot can realize the continuous mobility based on rolling gait planning. The main cause of robot displacement error and the corresponding improvement locomotion are gained through dynamic analysis. The results of the theoretical analysis are verified by experiments on a physical prototype. Originality/value The work introduced in this paper is a novel exploration of applying the mechanism with only revolute joints to the field of tetrahedral rolling robots. It is also an attempt to use the improved rolling locomotion making this kind of mobile robot more practical. Meanwhile, the reasonable engineering structure of the robot provides feasibility for load carrying.

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A deformable tetrahedron rolling mechanism (DTRM) based on URU branch

Cited by 10 publications

References 25 publications

Achievements and future directions in self‐reconfigurable modular robotic systems

Achievements and future directions in self‐reconfigurable modular robotic systems

Design and locomotion analysis of a close-chain leg-wheel mobile platform

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

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