Technical gazette, Vol. 28 No. 6, 2021.
Original scientific paper
https://doi.org/10.17559/TV-20200804125931
Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot
Chunyan Zhang*
; 1) Institution College of Mechanical Engineering, Donghua University, No. 2999, North Renmin Road, Songjiang District, Shanghai, P.R. China. 201620 2) School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, No.333, Longteng Road, Songjiang District, Shanghai, P.R. China 201620
Xinxing Jiang
; School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, No.333, Longteng Road, Songjiang District, Shanghai, P.R. China. 201620
Xiangyu Liu
; Institution College of Mechanical Engineering, Donghua University, No. 2999, North Renmin Road, Songjiang District, Shanghai, P.R. China. 201620
Dan Zhang
; Institution College of Mechanical Engineering, Donghua University, No. 2999, North Renmin Road, Songjiang District, Shanghai, P.R. China. 201620
Abstract
In order to solve the problem of loss of locomotion ability due to overturning and instability during the movement of a mobile robot, a multi-mode omnidirectional ground mobile robot with a deformable structure is proposed. Single-loop is used as the unit, and the three-direction geometric deformation can be realized by controlling its R joints in time sharing. The 4-RRRRRR parallel mobile robot formed by two closed-loops orthogonally has four different rolling modes, and each mode can be switched between each other. Once the robot is overturned and unstable during the movement, it can be deformed into other modes and continue to move. After the description of the robot, the DOF (degree-of-freedom) is calculated based on the screw theory. Gait planning and locomotion feasibility analysis indicate that the robot can realize four locomotion modes and their mutual switching. Finally, the simulations and prototype experiments are presented to verify the feasibility of the different locomotion modes and the ability of the obstacle crossing.
Keywords
Multi-mode; Obstacle crossing; Omnidirectional mobile robot; Single-loop
Hrčak ID:
264112
URI
Publication date:
7.11.2021.
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