2018
DOI: 10.1186/s10033-018-0215-8
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Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control

Abstract: Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom (DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotio… Show more

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Cited by 13 publications
(4 citation statements)
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References 35 publications
(38 reference statements)
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“…To clearly express how multi-mode motion is generated under the motor time-sharing control, a binary-like graph is used to illustrate it according to the literature (Liu et al, 2018). As shown in Figure 26, the motor marked with 'l' is in the driving state, corresponding to the '1' in Figure 26, at which time the bar is the active input.…”
Section: Motor Time-sharing Control Principlementioning
confidence: 99%
“…To clearly express how multi-mode motion is generated under the motor time-sharing control, a binary-like graph is used to illustrate it according to the literature (Liu et al, 2018). As shown in Figure 26, the motor marked with 'l' is in the driving state, corresponding to the '1' in Figure 26, at which time the bar is the active input.…”
Section: Motor Time-sharing Control Principlementioning
confidence: 99%
“…Wang (2019) proposed a series of construction methods of tetrahedral shape moving mechanism. Liu et al (2018) carried out motion optimization and motion planning for a type of tetrahedral mechanism with 18 degrees of freedom. Xun et al (2015Xun et al ( , 2016 designed rolling cube mechanism by orthogonal combination of multiple single-closed-loop linkage mechanisms.…”
Section: Introductionmentioning
confidence: 99%
“…Lyder et al (2007, 2008) designed a modular reconfigurable robot Odin based on tetrahedral combination structure. Liu et al (2018, 2019, 2020) successively carried out locomotion optimization for a tetrahedron-based mechanism, designed a crawling robot with a novel combination method of tetrahedral units and proposed a deployable tetrahedron-based mobile robot constructed by Sarrus linkages. Flexible or soft structures, joints and driving modes were also introduced into the design of tetrahedral moving mechanism.…”
Section: Introductionmentioning
confidence: 99%