Design and Analysis of 8R-Folding Metamorphic Mechanism and Metamorphic Robot

Li，Mi1,2; Shi，Wujie1; Chen，Junpeng1; Zhuang，Zheming2; Dai，Jian S.1,3

10.1007/978-3-031-45709-8_42

2024

2211-0984

2211-0992

Mechanisms and Machine Science

149

426-435

After completing the design of the rigid torso structure robot, the mobility and topology of the torso are fixed. As a result, it becomes challenging to meet the requirements of robots in multiple working conditions. By applying the torso structure of the reconfigurable metamorphic mechanism, we can address the above-mentioned problems in robot designing. In this paper, based on the reconfigurable mechanism design method of motion bifurcation, the 2-URU mechanism and its derived 8R-Folding mechanism are designed. The 8R-Folding mechanism is innovatively applied to the torso design of the wheel-legged robot, and kinematic analysis, model simulation, and prototype experiments are conducted. The results show that the robot can realize two deployments/folds, and the ratio can reach 3. The waist can achieve left and right rotation and up and down pitching effects after the folding process, allowing it to adapt to a variety of working environments. The article provides a new solution for the robot to achieve one machine with multiple functions.

kinematic analysis metamorphic mechanism motion bifurcation multiple functions torso design

第一 ; 通讯

英语

EI

2-s2.0-85176912330

Scopus

1.Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Southern University of Science and Technology,Shenzhen,518055,China
2.Centre for Advanced Mechanisms and Robotics Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education,Tianjin University,Tianjin,300350,China
3.Centre for Robotics Research,King’s College London,London,WC2R 2LS,United Kingdom

Li，Mi,Shi，Wujie,Chen，Junpeng,et al. Design and Analysis of 8R-Folding Metamorphic Mechanism and Metamorphic Robot[C],2024:426-435.