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�������պ����ѧѧ�� 2011, Vol. 37 Issue (4) :415-420    DOI:
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������1, ������1, ����2*
1. �������պ����ѧ ��е���̼��Զ���ѧԺ, ���� 100191;
2. �������պ����ѧ �Զ�����ѧ���������ѧԺ, ���� 100191
Motion analysis and simulation of tetrahedral rolling robot
Zhang Lige1, Bi Shusheng1, Peng Zhaoqin2*
1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
2. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� The research status of tetrahedral robot was analyzed. The mechanism of tetrahedral rolling robot was introduced. The robot comprises of six extension struts and four node flats. When the center of gravity(COG) of tetrahedron exceeds the stability region, the robot will roll. Kinematic model in different motion phase was analyzed according to the structure and motion characteristic of the tetrahedral robot, and the rolling critical condition was formulated. The simulation model was built by virtual flat software Adams, and the effectiveness of the method was testified through simulation and experiment. The results provide important reference for the dynamic analysis, optimization design and control of the tetrahedral rolling robot.
Keywords�� tetrahedral rolling robot   kinematic analysis   rolling critical condition   motion simulation     
Received 2010-01-21;
About author: ������(1978-),Ů,������,��ʿ��,zhanglige@buaa.edu.cn.
������, ������, ���� .�ռ������巭���������˶�ѧ����������ʵ��[J]  �������պ����ѧѧ��, 2011,V37(4): 415-420
Zhang Lige, Bi Shusheng, Peng Zhaoqin.Motion analysis and simulation of tetrahedral rolling robot[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2011,V37(4): 415-420
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