Variable Constraint Mechanism and Its Application for Design of Mobile Robots
Variable Constraint Mechanism and Its Application for Design of Mobile Robots
复制标题
变约束机制及其在移动机器人设计中的应用
DOI：
10.1177/02783640022067904
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
S. Hirose
中科院分区：
文献类型：
--
作者：
S. Hirose
This paper describes the existence of one of the most useful mechanisms for robotic systems, coined the “variable constraint mechanism.” The variable constraint mechanism is a system that actively changes constraint conditions by itself, in response to the working purpose or the required motion sequence to acquire varied functionality. The paper discusses some of the generalized design principles for the mechanism and shows some example robotic systems, including an adjustable leg-length walking robot, a legged and wheeled hybrid vehicle, an autonomous multisection robot, and a planetary rover with collapsible frame and compressible wheels.
