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

Xiangyu Liu (Shanghai University of Engineering Science – Songjiang Campus, Shanghai, China)
Chunyan Zhang (Shanghai University of Engineering Science – Songjiang Campus, Shanghai, China, and Donghua University – Songjiang Campus, Shanghai, China)
Cong Ni (Donghua University – Songjiang Campus, Shanghai, China)
Chenhui Lu (Shanghai University of Engineering Science – Songjiang Campus, Shanghai, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 25 October 2019

Issue publication date: 23 March 2020

165

Abstract

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.

Keywords

Citation

Liu, X., Zhang, C., Ni, C. and Lu, C. (2020), "A reconfigurable multi-mode walking-rolling robot based on motor time-sharing control", Industrial Robot, Vol. 47 No. 2, pp. 293-311. https://doi.org/10.1108/IR-05-2019-0106

Publisher

:

Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited

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