Design Analysis and Implementation of a Passive Deployable Spherical Robot
In order to improve the maneuverability and obstacle-crossing performance of the spherical robot in different scenarios such as narrow space, complex terrain and bumpy road, a passive deployable single-degree of freedom mechanism is used to expand the deployable radius to improve the obstacle-crossi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails?columnId=35644287&Fpath=home&index=0 |
| _version_ | 1797818934745890816 |
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| author | Shao Pai Qin Jianjun Cao Yu Liu Xingjie Chen Haonan |
| author_facet | Shao Pai Qin Jianjun Cao Yu Liu Xingjie Chen Haonan |
| author_sort | Shao Pai |
| collection | DOAJ |
| description | In order to improve the maneuverability and obstacle-crossing performance of the spherical robot in different scenarios such as narrow space, complex terrain and bumpy road, a passive deployable single-degree of freedom mechanism is used to expand the deployable radius to improve the obstacle-crossing performance. A linear deployable rack-and-pinion mechanism is introduced to design a spherical robot with compact structure and multiple motion modes. Mathematical models are established to perform kinematic and dynamic analysis of spherical robot mechanisms; the simulation results of rolling and obstacle crossing are compared with the theoretical values to verify the correctness of kinematics and dynamics. On this basis, the prototype is made to further verify the feasibility of the mechanism, and verify that the mechanism has strong mobility and obstacle crossing ability. |
| first_indexed | 2024-03-13T09:15:28Z |
| format | Article |
| id | doaj.art-baae23be6a7b4242b0fe68f260d4b058 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:15:28Z |
| publishDate | 2023-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-baae23be6a7b4242b0fe68f260d4b0582023-05-26T09:57:50ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-01-011835644287Design Analysis and Implementation of a Passive Deployable Spherical RobotShao PaiQin JianjunCao YuLiu XingjieChen HaonanIn order to improve the maneuverability and obstacle-crossing performance of the spherical robot in different scenarios such as narrow space, complex terrain and bumpy road, a passive deployable single-degree of freedom mechanism is used to expand the deployable radius to improve the obstacle-crossing performance. A linear deployable rack-and-pinion mechanism is introduced to design a spherical robot with compact structure and multiple motion modes. Mathematical models are established to perform kinematic and dynamic analysis of spherical robot mechanisms; the simulation results of rolling and obstacle crossing are compared with the theoretical values to verify the correctness of kinematics and dynamics. On this basis, the prototype is made to further verify the feasibility of the mechanism, and verify that the mechanism has strong mobility and obstacle crossing ability.http://www.jxcd.net.cn/thesisDetails?columnId=35644287&Fpath=home&index=0Spherical robot;Obstacle crossing performance;Kinetic analysis;Passive expansion;Adams software |
| spellingShingle | Shao Pai Qin Jianjun Cao Yu Liu Xingjie Chen Haonan Design Analysis and Implementation of a Passive Deployable Spherical Robot Jixie chuandong Spherical robot;Obstacle crossing performance;Kinetic analysis;Passive expansion;Adams software |
| title | Design Analysis and Implementation of a Passive Deployable Spherical Robot |
| title_full | Design Analysis and Implementation of a Passive Deployable Spherical Robot |
| title_fullStr | Design Analysis and Implementation of a Passive Deployable Spherical Robot |
| title_full_unstemmed | Design Analysis and Implementation of a Passive Deployable Spherical Robot |
| title_short | Design Analysis and Implementation of a Passive Deployable Spherical Robot |
| title_sort | design analysis and implementation of a passive deployable spherical robot |
| topic | Spherical robot;Obstacle crossing performance;Kinetic analysis;Passive expansion;Adams software |
| url | http://www.jxcd.net.cn/thesisDetails?columnId=35644287&Fpath=home&index=0 |
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