Rising STAR: A Highly Reconfigurable Sprawl Tuned Robot
Rising STAR: A Highly Reconfigurable Sprawl Tuned Robot
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新星：高度可重构的蔓延调谐机器人
DOI：
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发表时间：
2018
影响因子：
5.2
通讯作者：
Liran Yehezkel
中科院分区：
文献类型：
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作者：
David Zarrouk;Liran Yehezkel
这封信介绍了 Rising STAR (RSTAR) 一种新型的高度可重构机器人。 RSTAR 属于 STAR 机器人家族，具有类似的伸展能力，使其能够在平面配置中运行，无论是直立还是倒立，并将其机械结构从横向平面更改为矢状平面。然而，RSTAR 配备了新的四杆延伸机构（FBEM），使其能够延长身体和腿部之间的距离。这种蔓延和延伸机制的结合使 RSTAR 能够克服极具挑战性的障碍，在灵活且光滑的表面上爬行，甚至在管道中或两壁之间垂直攀爬。该机器人可以将其高度和宽度延长三倍，并在前后和垂直方向上移动其质心。我们首先描述运动学模型和动力学分析，以改进机器人的设计并评估其强度和电机要求。基于此分析，我们设计并构建了三维打印原型并进行了实验测试。该机器人可以倒立运行，并以乌龟般的步态爬过比其轮腿直径还要高的障碍物。为了提高其机动性，RSTAR 可以安装轮子或辐条腿或两者的组合，使其具有适应不同地形的优越性（参见视频）。
This letter presents Rising STAR (RSTAR) a novel highly reconfigurable robot. RSTAR belongs to the family of the STAR robots with similar sprawling capabilities allowing it to run in a planar configuration, either upright or inverted and change its mechanics from the lateral to the sagittal planes. However, RSTAR is fitted with a new four bar extension mechanism (FBEM) allowing it to extend the distance between its body and legs. This combination of sprawling and extension mechanisms enables RSTAR to overcome extremely challenging obstacles, crawl over flexible and slippery surfaces and even climb vertically in a tube or between two walls. The robot can extend its height and width three-fold and move its center of mass both in the fore-aft and vertical directions. We first describe a kinematic model and the dynamical analysis conducted to improve the design of the robot and evaluate its strength and motor requirements. Based on this analysis, we designed and built a three-dimensional printed prototype and experimentally tested it. The robot can run upside down and climb over obstacles that are even higher than the diameter of its wheeled legs using a turtle-like gait. To increase its mobility, RSTAR can be fitted with wheels or spoked legs or a combination of the two, giving it superiorability to engage different terrains (see video).