A reconfigurable multi-mode walking-rolling robot based on motor time-sharing control
ISSN: 0143-991X
Article publication date: 25 October 2019
Issue publication date: 23 March 2020
Abstract
Purpose
The purpose of this paper is to put forward a nvew reconfigurable multi-mode walking-rolling robot based on the single-loop closed-chain four-bar mechanism, and the robot can be changed to different modes according to the terrain.
Design/methodology/approach
Based on the topological analysis, singularity analysis, feasibility analysis, gait analysis and the motion strategy based on motor time-sharing control, the paper theoretically verified that the robot can switch between the four motion modes.
Findings
The robot integrates four-bar walking, self-deforming and four-bar and six-bar rolling modes. A series of simulation and prototype experiment results are presented to verify the feasibility of multiple motion modes of the robot.
Originality/value
The work presented in this paper provides a good theoretical basis for further exploration of multiple mode mobile robots. It is an attempt to design the multi-mode mobile robot based on single loop kinematotropic mechanisms. It is also a kind of exploration of the new unknown movement law.
Keywords
Citation
Liu, X., Zhang, C., Ni, C. and Lu, C. (2020), "A reconfigurable multi-mode walking-rolling robot based on motor time-sharing control", Industrial Robot, Vol. 47 No. 2, pp. 293-311. https://doi.org/10.1108/IR-05-2019-0106
Publisher
:Emerald Publishing Limited
Copyright © 2019, Emerald Publishing Limited