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�������պ����ѧѧ�� 2007, Vol. 33 Issue (07) :838-841    DOI:
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Design and analysis of a rover mechanism based on the metamorphic principle
Zhang Ketao, Fang Yuefa, Fang Hairong*
Department of Mechanical Engineering, Beijing Jiaotong University, Beijing 100044, China

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Abstract�� A kind of special six-bar spherical metamorphic mechanism was proposed. The configuration transformation was analyzed, and the adjacency matrixes under various metamorphic mechanisms were put forward. According to the mechanism characteristic at its different configuration, the metamorphic mechanism was used in the body design of a rover mechanism. The body can transform the configuration itself, and the robot can take the two manners of locomotion (walking in 4-leg mode, moving in wheeled-vehicle mode.), so the rover mechanism has high capability to adapt planet and other exploration terrain. The design of the novel metamorphic robot was described, and its degree of freedom(DOF) at different configuration was introduced. Some typical configurations were illustrated.
Keywords�� metamorphic mechanisms   configuration   leg-wheels rover   mobility     
Received 2006-06-29;
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�ſ���, ��Ծ��, ������.���ڱ��ԭ���һ��̽�⳵������������[J]  �������պ����ѧѧ��, 2007,V33(07): 838-841
Zhang Ketao, Fang Yuefa, Fang Hairong .Design and analysis of a rover mechanism based on the metamorphic principle[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(07): 838-841
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2007/V33/I07/838
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