The Research On Kinematic Chains And Mobile Robots

Modular Design is applied to all aspects of our lives owing to its distinct advantages. The planar closed-loop mechanism has also become indispensable in machinery industry, because of its less mobility and high rigidness. This paper mainly focused on the kinematic chain and the mobile robot based on it. By incorporating various thinking in Modular Design, Mechanisms and Robotics, the author strived to provide an innovative perspective to the movement pattern and further, the re-construction of the kinematic chain.Firstly, by the theory of the four-bar linkage, the general rolling condition for the kinematic chain is concluded. Also the rollable kinematic chains are obtained through the combination of various types of kinematic chain. And simulation analysis verified its rolling movement.Secondly, inspired by the idea of modular thinking, the author introduced the multi-layer design method, designed the structure for further stitching, as well as designed and realized the power module for the rolling movement. Also, the Multiple Servo Control Board is designed and the function of the control library is defined according to the drive mode of the power module.Then, the Watt Chain, and Stephen Chain rolling mechanism based on the designed module are developed, which are also verified the correctness of the theory. We realized The six-bar mechanism consisted of active modules are realized and means of moving method are tested.Lastly, the research scope is expanded from closed-loop to open-loop robots, and achieved three movement patterns, including biped movement, traveling wave in vertical plane, and inchworm locomotion in horizontal plane, which greatly enhanced the extensiveness of the modular robot application.The preliminary experiment result indicates that, the above-mentioned modular kinematic chain demonstrates a good robustness and general performance. Except for that, the other qualifications, like easier to control the rolling robot based on it, and the lower cost, has prepare it ready for future research.This paper will also offer theoretical basis for the modular design of more complex kinematic chain.