| 题名 | Design and Motion Planning of a Metamorphic Flipping Robot |
| 作者 | |
| 通讯作者 | Dai, Jian S. |
| 发表日期 | 2022-12-01
|
| DOI | |
| 发表期刊 | |
| EISSN | 2076-0825
|
| 卷号 | 11期号:12 |
| 摘要 | With the advantages of high flexibility, strong adaptability, etc., the legged robot can help humans to complete numerous complicated tasks. In this paper, a kind of reconfigurable legged robot with a flexible waist was proposed. Compared with the common robots with a rigid trunk, the proposed robot can twist its waist flexibly. Through analysis, it is found that the flexible waist can improve the trunk workspace, foot endpoints' workspace and static stability margin of the robot, and further enhance the motion performance of the robot. Meanwhile, by imitating the creatures in nature, the motion gait planning of the robot was provided. Additionally, the proposed robot has excellent reconfigurable characteristics, and can flexibly transform among three forms to adapt to different working environments and accomplish different tasks. Further, after capsizing, the robot can complete the motion of turning over more easily. In this paper, the reconfiguration posture and the motion of turning over of the robot were planned in detail, and finally verified by ADAMS simulation. |
| 关键词 | |
| 相关链接 | [来源记录] |
| 收录类别 | |
| 语种 | 英语
|
| 学校署名 | 通讯
|
| WOS研究方向 | Engineering
; Instruments & Instrumentation
|
| WOS类目 | Engineering, Mechanical
; Instruments & Instrumentation
|
| WOS记录号 | WOS:000934063300001
|
| 出版者 | |
| 来源库 | Web of Science
|
| 引用统计 |
被引频次[WOS]：1
|
| 成果类型 | 期刊论文 |
| 条目标识符 | http://sustech.caswiz.com/handle/2SGJ60CL/490027 |
| 专题 | 工学院_机械与能源工程系 |
| 作者单位 | 1.Tianjin Univ, Int Ctr Adv Mech & Robot, Key Lab Mech Theory & Equipment Design, Minist Educ, Tianjin 300350, Peoples R China 2.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518000, Peoples R China 3.Kings Coll London, Ctr Robot Res, London WC2R 2LS, England |
| 通讯作者单位 | 机械与能源工程系 |
| 推荐引用方式 GB/T 7714 |
Guan, Yuntao,Zhuang, Zheming,Zhang, Chunsong,et al. Design and Motion Planning of a Metamorphic Flipping Robot[J]. ACTUATORS,2022,11(12).
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| APA |
Guan, Yuntao,Zhuang, Zheming,Zhang, Chunsong,Tang, Zhao,Zhang, Ze,&Dai, Jian S..(2022).Design and Motion Planning of a Metamorphic Flipping Robot.ACTUATORS,11(12).
|
| MLA |
Guan, Yuntao,et al."Design and Motion Planning of a Metamorphic Flipping Robot".ACTUATORS 11.12(2022).
|
| 条目包含的文件 | 条目无相关文件。 | |||||
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