A spatial single loop kinematotropic mechanism used for biped/wheeled switchable robots

Wang, Naiyue; Fang, Yuefa; Zhang, Dan

doi:10.1007/s10999-014-9274-x

Cited by 12 publications

(4 citation statements)

References 33 publications

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“…In this paper, the single-loop planar 4R system was adopted as the basis of our multi-mode mobile parallel mechanism, considering the limited DOFs and simple control of single-loop closed-chain mechanism [3,4,9]. Then, the structural design method and motion principle of the said mechanism were investigated under each multimode, aiming to disclose the structural and motion features.…”

Section: Introductionmentioning

confidence: 99%

Kinematics Analysis and Optimization of a Multi-Mode Mobile Parallel Mechanism

Zhang¹,

Xie

Zhang

2021

Teh. vjesn.

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This paper aims to disclose the kinematics and optimize the design of multi-mode mobile parallel mechanism. To this end, a multi-mode mobile parallel mechanism was designed based on single-loop planar 4R systems. The horizontally symmetric mechanism is controlled by two motors: the mechanism can switch freely among different modes of movements (e.g. sliding, turning and rolling) by changing the input angles of the two motors. Based on the mechanism structure, the author analysed the degrees of freedom (DOFs) and kinematics of each mode, and optimized the stability of the mechanism. The results show that the mechanism is more stable at a short rod length and small rotating angle, when its width is constant. Finally, the theoretical correctness of the mechanism was verified through simulation and prototype test. The research findings provide a valuable reference for similar studies on multi-mode mobile parallel mechanism, and lay the theoretical basis for the application of mobile robots in various fields.

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Section: Introductionmentioning

confidence: 99%

Kinematics Analysis and Optimization of a Multi-Mode Mobile Parallel Mechanism

Zhang¹,

Xie

Zhang

2021

Teh. vjesn.

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“…Miao et al (2014) designed a 2-UPU 1 2-UU parallel mechanism to be used as a biped walking robot which improves the load carrying capability. Wang et al (2015) developed a novel biped walking robot by using the space eight-bar mechanism. Liu and Yao (2019) proposed a novel serial-parallel hybrid worm-like robot with nine degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

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

Liu

2019

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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.

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“…A biped walking robot on the basis of a spatial eight-bar kinematotropic mechanism was proposed in ref. [37]. Metamorphic hybrid wheel-legged rover was investigated by Ding.…”

Section: Introductionmentioning

confidence: 99%

A reconfigurable tri-prism mobile robot with eight modes

Wang¹,

Yao

Kong³

2018

Robotica

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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.

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A spatial single loop kinematotropic mechanism used for biped/wheeled switchable robots

Cited by 12 publications

References 33 publications

Kinematics Analysis and Optimization of a Multi-Mode Mobile Parallel Mechanism

Kinematics Analysis and Optimization of a Multi-Mode Mobile Parallel Mechanism

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

A reconfigurable tri-prism mobile robot with eight modes

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