A reconfigurable tri-prism mobile robot with eight modes

Abstract

SUMMARYA novel reconfigurable tri-prism mobile robot with eight modes is proposed. The robot is composed of two feet connected by three U-R-U (universal-revolute-universal) limbs. The robot incorporates the kinematic properties of sphere robots, squirming robots, tracked robots, wheeled robots and biped robots. In addition, the somersaulting and turning modes are also explored. After the description of the robot, the DOF (degree-of-freedom) is calculated based on screw theory. The 3D model and simulations indicate that the robot can cross several typical obstacles and can also be folded via two approaches. Finally, the prototype experiments are presented to verify the feasibility of the proposed mobile robot in different motion mode.

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

“…Therefore, the condition for the robot to achieve omnidirectional rolling is whether the robot is in an unstable state, that is, whether the ZMP point can fall outside the support area. In this paper, ZMP [22] is used to investigate the conditions for the robot to achieve omnidirectional rolling.…”

“…Wang et al [17] designed a rolling robot that can switch modes between planar linkage mode and spherical linkage mode by floding and spreading; Tian et al used single loop linkages to realize different locomotion modes by changing their gestures, they presented a mobile parallelogram mechanism that can slide or crawl on the ground [18]，and used a spatial 8R linkage to realize biped and rolling locomotion [19]. Taking the plane 6R linkage as the unit, He et al [20] proposed a mobile robot that can adapt to a variety of complex terrain environments; Liu CH [21] proposed an 8U parallel mechanism with omnidirectional rolling capability; Wang et al [22] proposed a mobile robot that uses self-reconfiguration to achieve multiple motion modes; Zhang et al [23] proposed a multi-mode mobile robot with self-traversal based on parallel mechanism; Phipps et al [24] proposed a kind of rolling robot which can switch locomotion modes between a circle or spherical robot and a legged robot; Li et al [25] proposed a 4-RSR parallel rolling robot that can switch between multiple mobile modes.…”

Design and Implementation of Wireless Environment Monitoring System Based on STM32

“…With the science advancement and technology popularization, intelligent devices enjoy more and more widespread application, and problems such as the accuracy of environmental issues have been aroused therefrom [1,2]. e previous environmental monitoring was carried out by means of manual monitoring, which has many shortcomings from the present point of view, including low efficiency and unscientific management system [3][4][5][6]. It was not conducive to the full utilization of resources and scientific management.…”

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

“…With the development of the industrialization, robots have been applied to every aspect of people's lives, such as manufacturing production, [1][2][3] application in medical machinery, 4 exploring unpredictable regions, 5 and working in hazardous or rough-and-tumble environments. [6][7][8] In order to satisfy the requirements of mechanical arms motion in different situations, highly efficient, intelligent, and flexible redundant manipulators have been widely studied by scholars.…”