The Design and Simulation of a Quadruped Multi-mode Mobile Robot
In order to meet the needs of better completing tasks in a variety of terrains， a quadruped multi-mode mobile robot with walking mode， obstacle crossing mode and semi folding mode is designed， which can change the motion mode according to different terrains. When the robot is in walking mode， it can...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.09.009 |
| _version_ | 1797819084411240448 |
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| author | Xinyue Yu Chunyan Zhang An Ping Bing Ding Jie Yang |
| author_facet | Xinyue Yu Chunyan Zhang An Ping Bing Ding Jie Yang |
| author_sort | Xinyue Yu |
| collection | DOAJ |
| description | In order to meet the needs of better completing tasks in a variety of terrains， a quadruped multi-mode mobile robot with walking mode， obstacle crossing mode and semi folding mode is designed， which can change the motion mode according to different terrains. When the robot is in walking mode， it can walk on ordinary flat road； when in obstacle crossing mode， you can climb over obstacles by raising the height of your legs； when in the semi folding mode， the wheelbase can be shortened through the folding of the platform for narrow road conditions. The freedom of the platform and leg of the mechanism is analyzed using the screw theory； the forward kinematic equation of the quadruped robot is solved by D-H parameter method； three modes of the robot are simulated by Adams simulation software. The results show that the robot can complete the tasks of walking， obstacle crossing and the half folding platform can pass through a certain width channel， which realize the multi motion mode of the robot. |
| first_indexed | 2024-03-13T09:17:43Z |
| format | Article |
| id | doaj.art-eead4116c1a942b794bd6cad6d542b1f |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:17:43Z |
| publishDate | 2022-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-eead4116c1a942b794bd6cad6d542b1f2023-05-26T09:52:10ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-01-0146677330487449The Design and Simulation of a Quadruped Multi-mode Mobile RobotXinyue YuChunyan ZhangAn PingBing DingJie YangIn order to meet the needs of better completing tasks in a variety of terrains， a quadruped multi-mode mobile robot with walking mode， obstacle crossing mode and semi folding mode is designed， which can change the motion mode according to different terrains. When the robot is in walking mode， it can walk on ordinary flat road； when in obstacle crossing mode， you can climb over obstacles by raising the height of your legs； when in the semi folding mode， the wheelbase can be shortened through the folding of the platform for narrow road conditions. The freedom of the platform and leg of the mechanism is analyzed using the screw theory； the forward kinematic equation of the quadruped robot is solved by D-H parameter method； three modes of the robot are simulated by Adams simulation software. The results show that the robot can complete the tasks of walking， obstacle crossing and the half folding platform can pass through a certain width channel， which realize the multi motion mode of the robot.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.09.009Multi-mode;Degree of freedom;Mobile robot;Simulation |
| spellingShingle | Xinyue Yu Chunyan Zhang An Ping Bing Ding Jie Yang The Design and Simulation of a Quadruped Multi-mode Mobile Robot Jixie chuandong Multi-mode;Degree of freedom;Mobile robot;Simulation |
| title | The Design and Simulation of a Quadruped Multi-mode Mobile Robot |
| title_full | The Design and Simulation of a Quadruped Multi-mode Mobile Robot |
| title_fullStr | The Design and Simulation of a Quadruped Multi-mode Mobile Robot |
| title_full_unstemmed | The Design and Simulation of a Quadruped Multi-mode Mobile Robot |
| title_short | The Design and Simulation of a Quadruped Multi-mode Mobile Robot |
| title_sort | design and simulation of a quadruped multi mode mobile robot |
| topic | Multi-mode;Degree of freedom;Mobile robot;Simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.09.009 |
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