Design and analysis of a multi-mode mobile robot based on a parallel mechanism with branch variation

Li, Yezhuo; Yao, Yan‐an; He, Yanying

doi:10.1016/j.mechmachtheory.2018.07.018

Cited by 45 publications

(16 citation statements)

References 18 publications

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“…On the one hand, Table 1 shows the qualitative indicators for VDR with different engagement principles, where -: low level, +: middle level, and ++: high level. On the other hand, Table 2 shows a summary of data that reflects the applicability and compatibility of the VDR engagement principles with the relative mechanisms of movement, collected from the existing prototypes and experimental samples of VDR [26][27][28][29].…”

Section: Robots Engaging On a Vertical Surfacementioning

confidence: 99%

Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

Attar

Abu-Jassar

Yevsieiev

et al. 2022

Computational Intelligence and Neuroscience

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Research in robotics is one of the promising areas in mobile robot development, which is planned to be implemented in extreme dangerous conditions of areas explored by humans. This article aims at developing and improving a prototype of zoomorphic mobile robots that are designed to repeat the existing biological objects in nature. The authors performed a detailed analysis on the structure and dynamics of the geometrical family caterpillar movement, which is passed on a practical design implemented to perform the dynamic movement on uneven vertical surfaces. Based on the obtained analysis, the design and kinematic scheme of the movement is developed. Also, the structural control scheme via the Internet technologies that allow carrying out remote control is presented in this paper, considering the dangerous mobile robot work zones. To test the recommended solutions, the authors developed detailed 3D printed models of the mobile robot constructions for the implemented hardware. The model of the mobile robot is constructed, and the control system with examples of the user program code implementations is performed. Several experiments were performed, which showed the efficiency of the achieved mobile robot for solving problems of vertical movement on uneven metal surfaces. Moreover, the obtained slow motion of the designed robot proves that the simulated robot behaves similarly to the natural behavior of caterpillar movement.

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Section: Robots Engaging On a Vertical Surfacementioning

confidence: 99%

Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

Attar

Abu-Jassar

Yevsieiev

et al. 2022

Computational Intelligence and Neuroscience

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“…Mobile mechanism can deform, is self-reconfigurable, has multiple operation modes and has gradually become a research hotspot in robotics mechanism (Liu et al , 2020; Li et al , 2020; Yu et al , 2020; Kong, 2014). Zhang et al (2019a, 2019b) and Li et al (2018) propose a mobile carrying mechanism with morphological reconstruction adapt to complex environments. Liu et al (2020) and Li et al (2018) introduced a variety of multi-mode mobile mechanism relying on branch deformation.…”

Section: Introductionmentioning

confidence: 99%

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

Ping

Yang

2022

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Purpose This study aims to make the mobile robot better adapt to the patrol and monitoring in industrial field substation area, a multi-mode mobile carrying mechanism which can carrying data collector, camera and other equipment is designed. Design/methodology/approach Based on the geometric axis analysis and interference analysis, the multi-mode mobile carrying mechanism is designed. The screw constraint topological theory and zero-moment point (ZMP) theory is used to kinematic analysis in mechanism mobile process. Findings The mobile carrying mechanism can realize the folding movement, hexagonal rolling and quadrilateral rolling movement. A series of simulation and prototype experiment results verify the feasibility and actual error of the design analysis. Originality/value The work of this paper provides a mobile carrying mechanism for carrying different data acquisition equipment and surveillance camera in industrial field substation zone. It has excellent folding performance and mobile capabilities. The mobile carrying mechanism reduces the workload of human being and injuries suffered by workers in industrial substation area.

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“…Inspired by the concept of parallel mechanism, a series of polyhedron mobile mechanisms with multi-chain were proposed and omni-directional rolling and folding function were realized (Liu et al , 2012; Tian and Yao, 2015; Li et al , 2017; Liu et al , 2019a; Liu et al , 2019b). Furthermore, the integration of multiple mobile modes was realized based on variable topology (Tian et al , 2017; Li et al , 2018). Based on refined virtual chain, an approach to synthesis of polyhedron mobile mechanisms with multi-mode was proposed to construct symmetrical and asymmetrical structure (Liu et al , 2020).…”

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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Design and analysis of a multi-mode mobile robot based on a parallel mechanism with branch variation

Cited by 45 publications

References 18 publications

Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

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

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

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