Motion and path planning of a novel multi-mode mobile parallel robot based on chessboard-shaped grid division
ISSN: 0143-991x
Article publication date: 11 July 2018
Issue publication date: 19 July 2018
Abstract
Purpose
The purpose of this paper is to put forward a rolling assistant robot with two rolling modes, and the multi-mode rolling motion strategy with path planning algorithm, which is suitable to this multi-mode mobile robot, is proposed based on chessboard-shaped grid division (CGD).
Design/methodology/approach
Based on the kinematic analysis and motion properties of the mobile parallel robot, the motion strategy based on CGD path planning algorithm of a mobile robot with two rolling modes moving to a target position is divided into two parts, which are local self-motion planning and global path planning. In the first part, the mobile parallel robot can move by switching and combining the two rolling modes; and in the second part, the specific algorithm of the global path planning is proposed according to the CGD of the moving ground.
Findings
The assistant robot, which is a novel 4-RSR mobile parallel robot (where R denotes a revolute joint and S denotes a spherical joint) integrating operation and rolling locomotion (Watt linkage rolling mode and 6R linkage rolling mode), can work as a moving spotlight or worktable. A series of simulation and prototype experiment results are presented to verify the CGD path planning strategy of the robot, and the performance of the path planning experiments in simulations and practices shows the validation of the path planning analysis.
Originality/value
The work presented in this paper is a further exploration to apply parallel mechanisms with two rolling modes to the field of assistant rolling robots by proposing the CGD path planning strategy. It is also a new attempt to use the specific path planning algorithm in the field of mobile robots for operating tasks.
Keywords
Acknowledgements
This work was supported by National Defense Science and Technology Special Innovation Zone Program of China (17-163-11-ZT-005-039-01) and the Fundamental Research Funds for the Central Universities of China with Grant (M15JB00250).
Citation
Wang, Z., Li, Y. and Yao, Y.-A. (2018), "Motion and path planning of a novel multi-mode mobile parallel robot based on chessboard-shaped grid division", Industrial Robot, Vol. 45 No. 3, pp. 390-400. https://doi.org/10.1108/IR-01-2018-0001
Publisher
:Emerald Publishing Limited
Copyright © 2018, Emerald Publishing Limited