A novel serial–parallel hybrid worm-like robot with multi-mode undulatory locomotion

Liu, Ran; Yao, Yan‐an

doi:10.1016/j.mechmachtheory.2019.03.033

Cited by 40 publications

(8 citation statements)

References 28 publications

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“…Zhang et al (2019) put forward a multi-mode mobile mechanism based on variable platform. Liu and Yao (2019) designed a series-parallel structure peristaltic robot. Tian (2017) and Li et al (2018) realized the integration of multi-movement modes through the variable topology four-link mechanism, respectively, and planned the obstacle-climbing gait of the robot based on the analysis of parameters.…”

Section: Introductionmentioning

confidence: 99%

Design and motion analysis of double quadrilateral mobile mechanism

Cheng

Ma²,

Ruan³

et al. 2022

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Purpose The purpose of this paper is to propose an overall deformation rolling mechanism based on double four-link mechanism. The double quadrilateral mobile mechanism (DQMM) has two switchable working modes which can be used to traverse different terrains or climb over obstacles. Design/methodology/approach The main body of the DQMM is composed of a double four-link mechanism which sharing a public link and two symmetrical steering platforms which placed at both ends of the four-link mechanism. The steering platforms give the DQMM not only steering ability but also reconnaissance ability which can be achieved by carrying sensors such as cameras on steering platforms. By controlling the deformation of the DQMM, it can switch between two working modes (tracked rolling mode and obstacle-climbing mode) to achieve the functions of rolling and obstacle-climbing. Dynamic simulation model was established to verify the feasibility. Findings Based on the kinematics analysis and simulation results of the DQMM, its moving function is realized by the tracked rolling mode, and the obstacle-climbing mode is used to climb over obstacles in structured terrains such as continuous stairs. The feasibility of the two working modes is verified on a physical prototype. Originality/value The work of this paper is a new exploration of applying “overall closed moving linkages mechanism” to the area of small mobile mechanisms. The adaptability of different terrains and the ability of obstacle-climbing are improved by the combination of multi-modes.

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Section: Introductionmentioning

confidence: 99%

Design and motion analysis of double quadrilateral mobile mechanism

Cheng

Ma²,

Ruan³

et al. 2022

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“…The in-pipe robot system, according to existing moving modes and contact forms with pipe wall, can be classified into several classical forms, including pig type, [4][5][6] wheel type, [7][8][9][10] wall-press type, [11][12][13] walking type, 14,15 screw type, [16][17][18][19][20][21] inchworm type, [22][23][24][25] and swimming type. 26,27 The wall-press robots, suitable for walking in circular pipes, have three sets of wheels or legs circularly located 120°apart from each other.…”

Section: Introductionmentioning

confidence: 99%

“…Additionally, the robot can only walk in one direction because the inclined direction of wedges has been determined beforehand, unless an additional driver is added to change the direction of the wedge, which increases the complexity of the mechanism and control. To improve the flexibility of robots, a multi degree of freedom peristaltic robot has been developed, 22 which is composed of two symmetrically arranged 3-RPS parallel mechanisms and a single degree of freedom extensible platform. The robot has many degrees of freedom, and can adapt to complex terrain, but its structure and control are very complex.…”

Section: Introductionmentioning

confidence: 99%

Design of a novel inchworm in-pipe robot based on cam-linkage mechanism

Xie

Liu

2021

Advances in Mechanical Engineering

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This paper presents a novel double-direction inchworm in-pipe robot, called the Cam-Linkage Robot (CLR), used to carry sensors and instruments to perform inspection and cleaning jobs inside pipelines. The prototype has been developed to improve the driving ability and reduce the difficulty of control. CLR is suitable for pipe diameters from 360 mm to 400 mm due to its functions of manual adjustment and automatic adaptation. The structure of CLR was presented and some critical design issues on the principle of cam-linkage mechanism were discussed. Based on cam-linkage mechanism, CLR could press the wall actively and creep in two directions via only one motor, so this research has broken the limitation that traditional active wall-press robot needs more than one actuator. The cam pressure angle could be reduced to 0, and the propulsion ability was almost not weakened by the support motion at the stable support stage. Finally, experiments were conducted to validate the locomotion principle and the effectiveness of CLR.

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“…He et al (2019) propose a control scheme for a hybrid manipulator which is used for the capturing mission in space. Liu and Yao (2019) proposed a serial-parallel hybrid worm-like robot based on two 3-RPS PMs with expandable platforms. Linearized error model of a 6-DOF polishing hybrid robot is formulated by Huang et al (2019).…”

Section: Introductionmentioning

confidence: 99%

A Dexterity Comparison for 6 DOF Hybrid Robots

Mohammadkhani¹,

Haghighi²

2020

Preprint

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In this paper, new hybrid robots are suggested which divided the task into a position and orientation tasks. The position mechanism controls the position whereas the orientation one manipulates the orientation of the end effector. These robots consist of a translational parallel manipulator and a rotational serial or parallel mechanism. The 3UPU or Tricept parallel manipulator and a three-axis gimbaled system or parallel shoulder manipulator are chosen for translational and rotational movements, respectively. The main goal of this paper is analyzing the development and combination of serial and parallel manipulators in order to increase their features. According to this purpose, serial and parallel mechanisms with three DOF are combined in a way to encompass six DOF space. It is shown hybrid mechanisms with less coupling between their subsystems are capable of increasing robot characteristics.

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A novel serial–parallel hybrid worm-like robot with multi-mode undulatory locomotion

Cited by 40 publications

References 28 publications

Design and motion analysis of double quadrilateral mobile mechanism

Design and motion analysis of double quadrilateral mobile mechanism

Design of a novel inchworm in-pipe robot based on cam-linkage mechanism

A Dexterity Comparison for 6 DOF Hybrid Robots

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