Mechanism Design of a Transformable Crawling Robot and Feasibility Analysis for the Unstructured Environment
Mechanism Design of a Transformable Crawling Robot and Feasibility Analysis for the Unstructured Environment
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DOI：
10.3390/act11020060
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发表时间：
2022-02
期刊：
影响因子：
2.6
通讯作者：
Jiwei Yuan;Zhouyi Wang;Zhourong Zhang;Yuhang Xing;A. Ji
中科院分区：
文献类型：
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作者：
Jiwei Yuan;Zhouyi Wang;Zhourong Zhang;Yuhang Xing;A. Ji
爬行机器人的更好应用取决于它们适应结构形状和大小有显著变化的非结构化环境的能力。本文介绍了一种新型机器人的设计和分析，该机器人具有不同的运动构型，可以在不同的环境中移动。该机器人的腿受昆虫的启发，被设计为多连杆结构，包括Hoekens连杆和多个平行四连杆机构。末端轨迹是一条对称的闭合曲线，由一条近似直线和一条向下开口的壳曲线组成。特殊的轨迹允许机器人共享驱动和部件，实现结构变形和运动。基于工作空间，得到了爬行机器人在内外圆弧上的结构特征。建立了机器人结构尺寸、圆弧半径和机器人在圆弧上爬行时的静摩擦系数之间的约束关系。得到了机器人在不同圆弧半径下的可行支撑姿态和支撑位置。仿真测试了机器人在平面、圆弧和受限空间中的运动情况。该机器人可用于在非结构化环境中执行探测、搜索和救援任务。
The better application of crawl robots depends on their ability to adapt to unstructured environments with significant variations in their structural shape and size. This paper presents the design and analysis of a novel robot with different locomotion configurations to move through varying environments. The leg of the robot, inspired by insects, was designed as a multi-link structure, including the Hoekens linkage and multiple parallel four-link mechanisms. The end trajectory was a symmetrical closed curve composed of an approximate straight line and a shell curve with a downward opening. The special trajectory allowed the robot to share drives and components to achieve structural deformation and locomotion. The structural characteristics of the crawl robot on the inner and outer arcs were obtained based on the working space. The constraint relationship between the structure size, the radius of the arc, and the coefficient of static friction with which the robot could crawl on the arc were established. The feasible support posture and support position of the robot under different arc radii were obtained. The simulation tested the locomotion of the robot on the plane, arc, and restricted space. The robot can be used for detection, search, and rescue missions in unstructured environments.