Mobile Robot with Multiple Modes Based on 4-URU Parallel Mechanism

2016 ◽  
pp. 399-407 ◽  
Author(s):  
Zhihuai Miao ◽  
Jieyu Wang ◽  
Bing Li
Keyword(s):  
Mobile Robot ◽  
Parallel Mechanism ◽  
Multiple Modes

Dynamic model of spherical parallel mechanism for wheel-leg hybrid mobile robot

2019 ◽  
Vol 27 (8) ◽  
pp. 1800-1810
Author(s):  
陈 原 CHEN Yuan ◽  
何淑垒 HE Shu-lei ◽  
姜 媛 JIANG Yuan ◽  
桑董辉 SANG Dong-hui ◽  
宁淑荣 NING Shu-rong
Keyword(s):  
Mobile Robot ◽  
Dynamic Model ◽  
Parallel Mechanism ◽  
Spherical Parallel Mechanism

Mobility Analysis of a Spoked Walking Machine With Variable Topologies

2011 ◽  
Vol 3 (4) ◽  
Author(s):  
Ping Ren ◽  
Dennis Hong
Keyword(s):  
Mobile Robot ◽  
Degrees Of Freedom ◽  
Line Geometry ◽  
Mobility Analysis ◽  
Multiple Modes ◽  
Topological Structures ◽  
Walking Machine ◽  
Experimental Prototype ◽  
Grassmann Line Geometry ◽  
Theoretical Results

In this paper, the concept of the Intelligent Mobility Platform with Active Spoke System (IMPASS) is introduced in the first place as an alternative locomotive method that allows for multiple modes of motion. Based on this concept, a walking machine with two actuated spoke wheels and one tail is developed. Observations on the motion of this mobile robot indicate that it is able to change its topology by changing the contact scheme of its spokes with the ground. In order to investigate its transformable configuration, the robot is treated as a mechanism with variable topologies (MVTs) and the Modified Grübler–Kutzbach criterion is adopted to identify the degrees of freedom (DOF) for each case of its topological structures. The mobility analysis demonstrates that, with the assistance of Grassmann Line Geometry, the DOF in all possible configurations can be determined straightforward. The nature of the IMPASS’ locomotion is revealed through the mobility analysis and the theoretical results are validated with an experimental prototype.

Research on Kinematic for the Mechanism of Wheel-Leg Mobile Robot with Multi-Sports Mode

2014 ◽  
Vol 1044-1045 ◽  
pp. 850-853
Author(s):  
Meng Jun Song ◽  
Cheng Jun Ding ◽  
Xu Long Wang ◽  
Yi Zhou ◽  
Hai Song Zhou
Keyword(s):  
Mobile Robot ◽  
Parallel Mechanism ◽  
Kinematic Model ◽  
Mechanism Model ◽  
Experimental Prototype ◽  
Walking Mechanism ◽  
Serial Mechanism

Based on the walking mechanism and the researching method for the serial-parallel mechanism, one multi-sports mode wheel-leg mobile robot is proposed in this paper; Firstly, the serial mechanism model of one leg is constructed, and the method for constructing the kinematic model of the single leg mechanism is studied; Secondly, based on the study of the single leg mechanism, the kinematic model of the parallel mechanism of the multi-sports mode wheel-leg robot is further constructed when the robot is in the support state; Finally, based on the methods and theories discussed above, the experimental prototype mobile robot is constructed, so feasibility of the proposed method is verified.

Design of the parallel mechanism for a hybrid mobile robot in wind turbine blades polishing

2020 ◽  
Vol 61 ◽  
pp. 101857 ◽  
Author(s):  
Zenghui Chong ◽  
Fugui Xie ◽  
Xin-Jun Liu ◽  
Jinsong Wang ◽  
Huifeng Niu
Keyword(s):  
Mobile Robot ◽  
Wind Turbine ◽  
Parallel Mechanism ◽  
Turbine Blades ◽  
Wind Turbine Blades

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization
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