Design of a three-legged reconfigurable spherical shape robot

Abstract

This paper proposes a novel mechanical design of a three-legged reconfigurable robot. In its dormant form, the robot is packed into a spherical shape for minimum storage volume. At deployment, the robot can be transformed into a mobile form of two interconnected hemispheres with three legs, each equipped with an omni-directional wheel. Feasibility of the transformation process was analyzed using a dynamic simulation in MSC.ADAMS. The construction of the robot has been completed up to the deployment of three legs, the lifting of the robot body, and the movement of omni-directional wheels. The deployment of robot legs is controlled using feedback control on five dsPIC30F2010 boards. The torque measurements of the transformation process are in good agreement with the results of corresponding dynamic simulation.

Transformation design of a miniature throw-able robot

“…More specifically, the robot of National University of Defense Technology is 2.48 kg in weight, 16 cm in diameter (without buffer and no record about falling height either), and uses a screw-tread mechanism enabling the transformation between a balled-shaped robot and a two-wheeled robot by axial stretch of the shells (Luo et al, 2009). Other interesting transformable models also include Tadakuma et al's (2009) "Throwable tetrahedral robot" and Jearanaisilawong et al's (2009) "Three-legged reconfigurable spherical shape robot". However, these transformable models are hard to be thrown attributed to the specific transformation motors and related mechanisms which increase the size and the weight of these robots.…”

Research on Intelligent Flight Software Robot Based on Internet of Things

“…As a mobile robot with spherical rolling movement, the spherical robot has the advantages of flexible movement [11], strong adaptability to environment [12], high movement efficiency [13] and so on. It has been paid more and more attention by researchers [14][15][16][17][18][19][20][21][22]. Robot theory: With the development of science and technology, people's research on robots is more and more in-depth, more and more mature, and gradually invented can help people take care of life, do simple housework robots, can automatically control, repeatable Programming, multi-functional operation of the robot, according to the order and conditions in advance, in turn, control the robot's mechanical action programcontrolled robot, through the guidance or other ways to first teach the robot action, enter the work program, automatically repeat the work lady A robot, a numerically controlled robot that can teach a robot by numerology, language, and the like, a sensor-controlled robot that controls the movement of the robot by the information acquired by the sensor, a robot capable of adapting to the change of the environment, controlling the adaptive control robot of its own action, Experience "work experience, have a certain learning function, and the" learning "experience for the work of the learning control of the robot, as well as artificial intelligence to determine the action of intelligent robots and so on.…”