A NOVEL RECONFIGURABLE WHEEL-LEGGED MOBILE MECHANISM

被引：0
|
作者：
Zhang, Hongchuan [1 ]
Zhang, Xianmin [1 ]
Huang, Yanjiang [1 ]
Du, Junjie [1 ]
Zhu, Benliang [1 ]
机构：
[1] South China Univ Technol, Sch Mech & Automot Engn, Guangdong Key Lab Precis Equipment & Mfg Technol, Guangzhou 510640, Peoples R China
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2019, VOL 5A | 2020年
基金：
中国国家自然科学基金;
关键词：
DESIGN; ROBOT; TRANSFORMER;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents a novel wheel-legged mobile robot with a reconfigurable frame, which uses a compliant kaleidocycles inspired spring-hinged eight-bar mechanism. The kinematic model of the mechanism is established and the relationships between actual rotation angle and the joint angles is thoroughly obtained in the spherical coordinate system. According to the analysis of the multivariable potential energy surface, the relationship among multistable performance, under-actuated behavior and potential mechanism energy is studied. On account of under-actuated kinematic relationship and multistability of the proposed mechanism, a cable-driven approach is used and its feasibility is finally verified by the experiment of the prototype robot.
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页数：9
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