Structure Design and Analysis of Metamorphic Mobile Robot Based on Screw Theory

Zhao, Tao; Wang, Ya W.; Sun, Meng J.

doi:10.1109/iisr.2018.8535949

Cited by 2 publications

(2 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this study, a metamorphic robot structure that can switch between wheels and legs was designed. Based on Lie algebra, Lie group theory, and the screw theory [15][16][17][18][19][20], a kinematics model for the reconfiguration process of the metamorphic robot and a level lifting model based on the requirement that the front and rear frames should be held level in the reconfiguration were established. Based on the reconfiguration time, the angle of the supporting joints, and the angle of the humanoid joint, rules for the rotation of each joint in the reconfiguration process were designed to ensure the smoothness of…”

Section: Introductionmentioning

confidence: 99%

Motion analysis and stability optimization for metamorphic robot reconfiguration

Liu

Ruan

et al. 2022

Robotica

View full text Add to dashboard Cite

Metamorphic robots are a new type of unmanned vehicle that can reconfigure and morph between a car mode and a biped walking machine mode. Such a vehicle is superior in trafficability because it can drive at high speeds on its wheels on structured pavement and walk on its legs on unstructured pavement. An engineering prototype of a metamorphic robot was proposed and designed based on the characteristics of wheeled–legged hybrid motion, and reconfiguration planning of the robot was conducted. A kinematics model of the reconfiguration process was established using the screw theory for metamorphic robots. To avoid component impact during the rapid global reconfiguration and achieve smoothness of the reconfiguration process, a rotation rule for each rotating joint was designed and the kinematics model was used to simulate and validate the motion of the system’s end mechanism (front frame) and the entire robot system. Based on the kinematics model and the rotation rules of the rotating joints, a zero-moment point (ZMP) calculation model of the entire robot mechanism in the reconfiguration process was established, and the stability of the reconfiguration motions was evaluated based on the ZMP motion trajectory. The foot landing position was optimized to improve the robot’s stability during the reconfiguration. Finally, the smoothness and stability of the reconfiguration motion were further validated by testing the prototype of the metamorphic robot.

show abstract

Section: Introductionmentioning

confidence: 99%

Motion analysis and stability optimization for metamorphic robot reconfiguration

Liu

Ruan

et al. 2022

Robotica

View full text Add to dashboard Cite

show abstract

“…In addition, Jia et al [16] designed a novel type of deployable grasping manipulator by using metamorphic principle. Then combined with the structural design of metamorphic mechanisms, reference [17] studied a mobile robot with high precision and high efficiency to fulfill people's This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/.…”

Section: Introductionmentioning

confidence: 99%

Design and Dimensional Optimization of a Controllable Metamorphic Palletizing Robot

2020

View full text Add to dashboard Cite

The controllable metamorphic mechanisms offer the advantages of adjustable mechanisms and multiple configurations. Most of these mechanisms are not yet applied in industry. To achieve the dimension calculation method for engineering applications as well as the effective and functional industrial prototype of these mechanisms, firstly, this paper designed a controllable metamorphic palletizing robot which can have 2-degrees-of-freedom (2-DOF) and single-DOF configurations. Further, this robot mechanism was studied using workspace analysis. The evaluation of its kinematic performance in workspace was presented. On this basis, a dimensional optimization method for metamorphic mechanisms based on workspace discretization was developed. The optimal workspace and corresponding dimensional parameters of this robot mechanism were obtained by this method and verified by the conventional calculation approach. A physical prototype of the robot was manufactured using optimized dimensional parameters and the feasibility as well as the practicality of its scheme was demonstrated.

show abstract

Structure Design and Analysis of Metamorphic Mobile Robot Based on Screw Theory

Cited by 2 publications

References 14 publications

Motion analysis and stability optimization for metamorphic robot reconfiguration

Motion analysis and stability optimization for metamorphic robot reconfiguration

Design and Dimensional Optimization of a Controllable Metamorphic Palletizing Robot

Contact Info

Product

Resources

About