The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on th...The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex terrain.The leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting capability.The pitch adjustment in leg unit requires as few independent adjusting actuators as possible.Based on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and compared.The configuration of the robot is designed to obtain a compact structure and pragmatic performance.The uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are presented.Then the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried out.The results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.展开更多
Current research concerning legged platforms and wheeled platforms primarily focuses on terrain adaptive capability and speed capability,respectively.Compared with wheeled platforms,legged platforms with a closed-chai...Current research concerning legged platforms and wheeled platforms primarily focuses on terrain adaptive capability and speed capability,respectively.Compared with wheeled platforms,legged platforms with a closed-chain mechanism still present deficiencies regarding speed ability.To integrate the advantages of these two types of platforms,a wheel-leg mobile platform with two modes based on a closed-chain mechanism is proposed.First,a closed-chain mechanism that generates a high-knee trajectory in legged mode is designed and analyzed based on kinematic analysis.To improve the platform’s obstacle-surmounting performance,the dimensional parameters of the closedchain mechanism are optimized and the design requirements for the platform’s frame are analyzed.In addition,the particular structure of the leg group is designed to realize transformation between legged mode and wheeled mode.The mobility of the constructed platform is calculated through an obstacle-surmounting probability analysis.The performances of the two motion modes are analyzed and compared by conducting dynamic simulations.Finally,experiments are carried out to verify both the theoretical analyses and the prototype performance.This study proposes a new approach to designing wheel-leg platforms with prominent speed ability and mobility based on a closed-chain mechanism.展开更多
This study presents two kinds of rolling robots that are able to roll by deforming their outer shapes with a single degree of freedom.Each robot is an essential multi-loop planar expandable linkage constructed by a co...This study presents two kinds of rolling robots that are able to roll by deforming their outer shapes with a single degree of freedom.Each robot is an essential multi-loop planar expandable linkage constructed by a concave outer loop and several inner parallelogram loops.In this study,the mechanical design of the robots is introduced.Dynamic rolling process is further analyzed on the basis of zero moment point method,and a morphing strategy is proposed to guarantee a stable dynamic rolling process.A novel passive rolling locomotion is also developed,which enables the robots to roll and stand on a slope.To verify the design,two prototypes are manufactured,wherein the dynamic and passive rolling locomotion are carried out.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51735009).
文摘The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex terrain.The leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting capability.The pitch adjustment in leg unit requires as few independent adjusting actuators as possible.Based on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and compared.The configuration of the robot is designed to obtain a compact structure and pragmatic performance.The uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are presented.Then the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried out.The results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.
基金Supported by National Natural Science Foundation of China(Grant No.51735009).
文摘Current research concerning legged platforms and wheeled platforms primarily focuses on terrain adaptive capability and speed capability,respectively.Compared with wheeled platforms,legged platforms with a closed-chain mechanism still present deficiencies regarding speed ability.To integrate the advantages of these two types of platforms,a wheel-leg mobile platform with two modes based on a closed-chain mechanism is proposed.First,a closed-chain mechanism that generates a high-knee trajectory in legged mode is designed and analyzed based on kinematic analysis.To improve the platform’s obstacle-surmounting performance,the dimensional parameters of the closedchain mechanism are optimized and the design requirements for the platform’s frame are analyzed.In addition,the particular structure of the leg group is designed to realize transformation between legged mode and wheeled mode.The mobility of the constructed platform is calculated through an obstacle-surmounting probability analysis.The performances of the two motion modes are analyzed and compared by conducting dynamic simulations.Finally,experiments are carried out to verify both the theoretical analyses and the prototype performance.This study proposes a new approach to designing wheel-leg platforms with prominent speed ability and mobility based on a closed-chain mechanism.
基金Supported by the Fundamental Research Funds for the Central Universities(Grant No.2019JBZ109).
文摘This study presents two kinds of rolling robots that are able to roll by deforming their outer shapes with a single degree of freedom.Each robot is an essential multi-loop planar expandable linkage constructed by a concave outer loop and several inner parallelogram loops.In this study,the mechanical design of the robots is introduced.Dynamic rolling process is further analyzed on the basis of zero moment point method,and a morphing strategy is proposed to guarantee a stable dynamic rolling process.A novel passive rolling locomotion is also developed,which enables the robots to roll and stand on a slope.To verify the design,two prototypes are manufactured,wherein the dynamic and passive rolling locomotion are carried out.
