Volume 33 Issue 07
Jul.  2007
Turn off MathJax
Article Contents
Zhang Ketao, Fang Yuefa, Fang Haironget al. Design and analysis of a rover mechanism based on the metamorphic principle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(07): 838-841. (in Chinese)
Citation: Zhang Ketao, Fang Yuefa, Fang Haironget al. Design and analysis of a rover mechanism based on the metamorphic principle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(07): 838-841. (in Chinese)

Design and analysis of a rover mechanism based on the metamorphic principle

  • Received Date: 29 Jun 2006
  • Publish Date: 31 Jul 2007
  • 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.

     

  • loading
  • [1] Grand Ch, BenAmar F, Plumet F, et al. Decoupled control of posture and trajectory of the hybrid wheel-legged robot Hylos Proceedings-IEEE International Conference on Robotics and Automation. New Orleans, LA:IEEE, 2004:5111-5116 [2] Hirose S, Takeuchi H. Study on roller-walk (basic characterristics and its control) Proceedings-IEEE International Conference on Robotics and Automation. Minneapolis, Minnesota:IEEE,1996:3265-3270 [3] 田娜,丁希仑,戴建生.一种新型变结构腿轮式探测车机构设计与分析[J]. 机械设计与研究,2004, 20(z1):268-270 Tian Na, Ding Xilun, Dai Jiansheng. Design and analysis of a novel metamorphic wheel-legs rover mechanism[J]. Machine Design and Research, 2004, 20(z1):268-270 (in Chinese) [4] Dai J S, Zhang Q X. Metamorphic mechanisms and their configuration models[J]. Chinese Journal of Mechanical Engineering, 2000, 13 (3):212-218 [5] 戴建生,丁希仑,邹慧君.变胞原理和变胞机构类型[J]. 机械工程学报,2005,41(6):7-12 Dai Jiansheng, Ding Xilun, Zou Huijun. Fundamentals and categorization of metamorphic mechanisms[J]. Chinese Journal of Mechanical Engineering, 2005, 41(6):7-12 (in Chinese) [6] 戴建生.变胞机构研究中的几个问题[J]. 机械设计与研究,2004,20(z1):276-278 Dai Jiansheng. Characteristics of metamorphic mechanisms[J]. Machine Design and Research, 2004, 20(z1):276-278(in Chinese) [7] 李端玲.变胞机构的机构学分析与应用 . 北京:北京航空航天大学机械工程及自动化学院,2003:23-28 Li Duanling. Analysis and application of metamorphic mechiansms . Beijing:School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, 2003:23-28 (in Chinese) [8] 张启先.空间机构的分析与综合[M]. 北京:机械工业出版社,1984:49-57 Zhang Qixian. Synthesis and analysis of spatial mechanisms[M]. BeiJing:China Machine Press, 1984:49-57(in Chinese)
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(4775) PDF downloads(1163) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return