Mechanical design and basic analysis of a modular robot with special climbing and manipulation functions
Mechanical design and basic analysis of a modular robot with special climbing and manipulation functions
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DOI：
10.1109/robio.2007.4522213
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
Y. Guan;Li Jiang;Xianmin Zhang
中科院分区：
文献类型：
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作者：
Y. Guan;Li Jiang;Xianmin Zhang
针对农业、林业和高空作业等新领域的应用，开发了一种模块化机器人，用于爬柱、树木和桁架以及操纵物体。受树懒、黑猩猩和尺蠖攀爬动作的启发，这款新机器人被设计成拟人化的。它由六个串联的单自由度关节模块和两个端部专用夹具组成。该夹持器是专门设计用于各种不同形状和大小的物体。该机器人结构类似于机械手，既具有特殊的攀爬功能，又具有操作功能。预计它将在柱子上、树上和桁架上执行各种任务。本文介绍了机器人的机构设计和一些基本的分析，包括机器人的运动学和夹持器的受力分析。
For applications in new fields such as agriculture, forestry and high-altitude work, a modular robot is developed for climbing posts, trees and trusses and manipulating objects. Inspired by the climbing motion of sloths, chimpanzees and inchworms, this new robot is designed to be anthropomorphic. It consists of six one-DOF joint modules in series and two special grippers at ends. The grippers are specially designed for various objects with different shapes and sizes. With the structure similar to a manipulator, the robot has both special climbing function and manipulation function. It is expected to perform a variety of tasks on posts, in trees and in trusses. Mechanical design and some basic analysis including the kinematics of the robot and force analysis of the grippers are presented in this paper.