Structure Design and Motion Planning of a Reconfigurable Robot with Flexible Waist

Yuntao Guan1; Zheming Zhuang1; Haolin Zhang1; Ze Zhang1; Erke Qin1; Zichen Wang1; Chunsong Zhang1; Jian S. Dai2

10.1109/EECR56827.2023.10150029

2023

978-1-6654-9121-1

2023 9th International Conference on Electrical Engineering, Control and Robotics (EECR)

1-4

24-26 Feb. 2023

Wuhan, China

Footed robots have significant application value in high-risk and high-intensity work scenarios such as field detection, rescue and disaster relief, and cargo handling. In this paper, a reconfigurable robot with flexible waist is proposed based on the traditional footed robot. The degrees of freedom of the hip joint and femoral joint of the robot allow the robot to realize reconfiguration of three forms of mammal, crawling and arthropods, and the degree of freedom of the waist allows the robot to twist its own trunk, coordinate various actions, and improve sports performance to adapt to a variety of complex environments. In this paper, the reconfiguration process of the robot is planned in detail, and the simulation is carried out by ADAMS software. Finally, a physical prototype was formed and the reconfiguration performance of the robot was tested.

footed robot reconfigurable flexible waist

其他

EI

20232814376486

Computer software ; Disaster prevention ; Machine design ; Mammals ; Modular robots ; Risk perception ; Robot programming

Mechanical Design:601 ; Computer Software, Data Handling and Applications:723 ; Computer Programming:723.1 ; Robotics:731.5 ; Accidents and Accident Prevention:914.1 ; Mechanics:931.1

IEEE

1.School of Mechanical Engineering, Tianjin University, Tianjin, China
2.Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China

Yuntao Guan,Zheming Zhuang,Haolin Zhang,et al. Structure Design and Motion Planning of a Reconfigurable Robot with Flexible Waist[C],2023:1-4.