A reconfigurable multi-mode walking-rolling robot based on motor time-sharing control

Abstract

Purpose The purpose of this paper is to put forward a nvew reconfigurable multi-mode walking-rolling robot based on the single-loop closed-chain four-bar mechanism, and the robot can be changed to different modes according to the terrain. Design/methodology/approach Based on the topological analysis, singularity analysis, feasibility analysis, gait analysis and the motion strategy based on motor time-sharing control, the paper theoretically verified that the robot can switch between the four motion modes. Findings The robot integrates four-bar walking, self-deforming and four-bar and six-bar rolling modes. A series of simulation and prototype experiment results are presented to verify the feasibility of multiple motion modes of the robot. Originality/value The work presented in this paper provides a good theoretical basis for further exploration of multiple mode mobile robots. It is an attempt to design the multi-mode mobile robot based on single loop kinematotropic mechanisms. It is also a kind of exploration of the new unknown movement law.

Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot

“…Through the gait analysis of the above locomotion modes, the robot can realize four locomotion modes by time-sharing control of the motor [27].…”

A replaceable-component method to construct single-degree-of-freedom multi-mode planar mechanisms with up to eight links

“…To adjust the posture and enlarge the working space of legged modules to enhance the obstacleclimbing capability, the trunk mechanism can be reconfigured into a steering four-bar linkage in steering motion with the aid of the singular feature. Liu et al (2020) put forward a new reconfigurable multi-mode walking-rolling robot based on the single-loop closed-chain four-bar mechanism, which has four types of motion modes: four-bar walking, four-bar rolling, self-deforming, and six-bar rolling modes. And the robot can be changed to different modes according to the terrain.…”

Design and kinematic analysis of new multi-mode mobile parallel mechanism with deployable platform

“…Zhang et al (2019aZhang et al ( , 2019b proposed a 3-RSR self-deformable multi-mode mobile parallel mechanism with rolling and self-traversing characteristics. Liu et al (2019) reported a four-bar mobile robot based on a singleloop kinematic chain. In summary, the above mentioned robots can realize self-reorganization in complex environments through self-deformation, reconfiguration, etc., so as to achieve obstacle crossing and mobile; it has the advantages of simple structure, easy control, strong environmental adaptability, etc.…”