scholarly journals Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot

2021 ◽  
Vol 28 (6) ◽  
Keyword(s):  
Mobile Robot ◽  
Single Loop ◽  
Multi Mode

A Novel Method for Constructing Multi-Mode Deployable Polyhedron Mechanisms Using Symmetric Spatial RRR Compositional Units

2018 ◽  
Author(s):  
Jieyu Wang ◽  
Xianwen Kong
Keyword(s):  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Single Loop ◽  
Kinematic Chains ◽  
The Third ◽  
Motion Modes ◽  
3D Printed ◽  
Novel Method ◽  
Multi Mode ◽  
Motion Mode

A novel construction method is proposed to construct multimode deployable polyhedron mechanisms (DPMs) using symmetric spatial RRR compositional units, a serial kinematic chain in which the axes of the first and the third revolute (R) joints are perpendicular to the axis of the second R joint. Single-loop deployable linkages are first constructed using RRR units and are further assembled into polyhedron mechanisms by connecting single-loop kinematic chains using RRR units. The proposed mechanisms are over-constrained and can be deployed through two approaches. The prism mechanism constructed using two Bricard linkages and six RRR limbs has one degree-of-freedom (DOF). When removing three of the RRR limbs, the mechanism obtains one additional 1-DOF motion mode. The DPMs based on 8R and 10R linkages also have multiple modes, and several mechanisms are variable-DOF mechanisms. The DPMs can switch among different motion modes through transition positions. Prototypes are 3D-printed to verify the feasibility of the mechanisms.

scholarly journals Study on Roller-Walker – Multi-mode Steering Control and Self-Contained Locomotion –

2000 ◽  
Vol 12 (5) ◽  
pp. 559-566 ◽  
Author(s):  
Gen Endo ◽  
◽  
Shigeo Hirose
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Constant Velocity ◽  
Control Method ◽  
Light Weight ◽  
Steering Control ◽  
Rugged Terrain ◽  
Hybrid Function ◽  
And Control ◽  
Multi Mode

We have proposed a new leg-wheel hybrid mobile robot named ""Roller-Walker"". Roller-Walker is a vehicle with a special foot mechanism, which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by roller-skating using the passive wheels. The characteristics of Roller-Walker are: 1) it has a hybrid function but it is light-weight, 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-wolfing is fully investigated in the future. In this paper, the 4 leg trajectory of straight Roller-Walk is optimized in order to achieve maximum constant velocity. Also steering roller-walk control method is proposed. It is obtained by the expansion of the straight roller-walk trajectory theory adding an offset to the swinging motion. This steering method resembles that of a car. The control system was modified into an untethered system, and control experiments were performed. The realization of the steering motion was verified by them.

Design and Experimental Evaluation of a Multi-mode Mobile Robot Based on Eccentric Paddle Mechanism

2021 ◽  
pp. 1-1
Author(s):  
Yi Sun ◽  
Longteng Zhang ◽  
Min Wang ◽  
Jiheng Ding ◽  
Wenchuan Jia ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Experimental Evaluation ◽  
Multi Mode

Design and analysis of a multi-mode mobile robot based on Schatz linkages

2022 ◽  
Vol 169 ◽  
pp. 104651
Author(s):  
Shun Yao ◽  
Ran Liu ◽  
Yan-an Yao
Keyword(s):  
Mobile Robot ◽  
Multi Mode

A next generation mobile robot with multi-mode sense of 3D perception

2015 ◽  
Author(s):  
Parijat Deshpande ◽  
V. Ramu Reddy ◽  
Arindam Saha ◽  
Karthikeyan Vaiapury ◽  
Keshaw Dewangan ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Next Generation ◽  
3D Perception ◽  
Multi Mode

A reconfigurable multi-mode walking-rolling robot based on motor time-sharing control

2019 ◽  
Vol 47 (2) ◽  
pp. 293-311 ◽  
Author(s):  
Xiangyu Liu ◽  
Chunyan Zhang ◽  
Cong Ni ◽  
Chenhui Lu
Keyword(s):  
Topological Analysis ◽  
Singularity Analysis ◽  
Time Sharing ◽  
Content Type ◽  
Single Loop ◽  
Motor Time ◽  
Motion Modes ◽  
Closed Chain ◽  
Multi Mode ◽  
Rolling Robot

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.

Sign in / Sign up

Export Citation Format

Share Document