A reconfigurable multi-mode mobile parallel robot

Tian, Yunfeng; Zhang, Dan; Yao, Yi; Kong, Xianwen; Li, Yezhuo

doi:10.1016/j.mechmachtheory.2017.01.003

Cited by 45 publications

(15 citation statements)

References 38 publications

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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

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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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Section: Introductionmentioning

confidence: 99%

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

Wang

et al. 2021

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“…In order to solve these problems, Yao et al [13][14][15][16] systematically explored the configuration design method, movement mode analysis and movement capability analysis of the link mechanism, taking the deformation movement of the link mechanism as the main research direction, and proposed a series of planar and spatial links robot model. Wang et al [17] designed a rolling robot that can switch modes between planar linkage mode and spherical linkage mode by floding and spreading; Tian et al used single loop linkages to realize different locomotion modes by changing their gestures, they presented a mobile parallelogram mechanism that can slide or crawl on the ground [18]，and used a spatial 8R linkage to realize biped and rolling locomotion [19].…”

Section: Introductionmentioning

confidence: 99%

Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot

2021

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“…Aoki et al (2015) proposed a quadruped walking robot with a spherical shell and improved mobile performance due to its round shape. Tian et al (2017) developed a parallel robot that can deform into a rolling and quadruped robot, which can significantly improve the capability of a mobile robot. 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.…”

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 reconfigurable multi-mode mobile parallel robot

Cited by 45 publications

References 38 publications

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

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

Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot

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

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