Volume 37 Issue 4
Apr.  2011
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Zhang Lige, Bi Shusheng, Peng Zhaoqinet al. Motion analysis and simulation of tetrahedral rolling robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(4): 415-420. (in Chinese)
Citation: Zhang Lige, Bi Shusheng, Peng Zhaoqinet al. Motion analysis and simulation of tetrahedral rolling robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(4): 415-420. (in Chinese)

Motion analysis and simulation of tetrahedral rolling robot

  • Received Date: 21 Jan 2010
  • Publish Date: 30 Apr 2011
  • 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.

     

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