A reconfigurable tracked mobile robot based on four-linkage mechanism
来源期刊：中南大学学报(英文版)2013年第1期
论文作者：LUO Zi-rong(罗自荣) SHANG Jian-zhong(尚建忠) ZHANG Zhi-xiong(张志雄)
文章页码：62 - 70
Key words：tracked mobile robot; four-linkage mechanism; mobility; reconfigurable robot
Abstract: A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. This robot can implement multiple locomotion configurations by changing the track configuration, and the geometric theory analysis shows that the track length keeps constant during the process of track reconfiguration. Furthermore, a parameterized geometric model of the robot was established to analyze the kinematic performance of the robot while overcoming various obstacles. To investigate the feasibility and correctness of design theory and robot scheme, an example robot was designed to climb 45° slopes and 200 mm steps, and a group of design parameters of the robot were determined. Finally, A prototype of this robot was developed, and the test results show that the robot own powerful mobility and obstacle overcoming performance, for example, running across obstacle like mantis, extending to stride over entrenchment, standing up to elevate height, and going ahead after overturn.
LUO Zi-rong(罗自荣), SHANG Jian-zhong(尚建忠), ZHANG Zhi-xiong(张志雄)
(School of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China)
Abstract:A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. This robot can implement multiple locomotion configurations by changing the track configuration, and the geometric theory analysis shows that the track length keeps constant during the process of track reconfiguration. Furthermore, a parameterized geometric model of the robot was established to analyze the kinematic performance of the robot while overcoming various obstacles. To investigate the feasibility and correctness of design theory and robot scheme, an example robot was designed to climb 45° slopes and 200 mm steps, and a group of design parameters of the robot were determined. Finally, A prototype of this robot was developed, and the test results show that the robot own powerful mobility and obstacle overcoming performance, for example, running across obstacle like mantis, extending to stride over entrenchment, standing up to elevate height, and going ahead after overturn.
Key words:tracked mobile robot; four-linkage mechanism; mobility; reconfigurable robot
