The Research On Theory And Experiment Of Mobile Robot Based On Deployable Mechanism Element

With the development of modern science and technology, the various forms of the mobile mechanisms have become the hotspot research in the developed countries. However, most of the traditional legged mobile-robot and the some new type mobile robots, for example, the rolling robot and snake robot, have some problems in complicated control and complicated structures and these disadvantages cumber the application, manufacture and promote in future.This paper is dedicated to research the smart and deformable mobile platform. In order to simplified the robots' structure and their control system, a new concept is proposed, that is combining the deployable mechanism and mobile robot; incorporating robotics, mobile vehicle engineering and mechanism to breakthrough the traditional limitations of the structural and creative novel mechanism.First, four novel types of mobile mechanism are proposed based on the research on the parallelogram mechanism. The new types of mobile mechanism are: (1) rolling parallelogram mechanism and its topologist; (2) rolling reverse parallelogram mechanism; (3) sliding parallelogram mechanism; (4) biped-walking parallelogram mechanism.Second, three types of mobile mechanism are proposed based on the research on deployable units which are composed of pure prismatic joints. The three types of mobile mechanism are: (1) biped-walking mechanism with three links and two prismatic joints; (2) biped-walking mechanism with four links and three prismatic joints; (3) a kind of special biped-walking mechanism by connecting a number of cube units following a specifically way. These units are also proposed in this paper.Finally, in order to prove the feasibility of this mechanism, the theoretical calculations and simulation are completed. The mobile gaits are analyzed according to the moving principle of every mechanism model. Some prototypes of rolling, sliding biped-walking mechanism are manufactured. These novel mechanisms have a high feasibility in principle based on the experiment results and the structures and control method are easy to design. All of the work will provide a foundation for the further research. Especially, the theoretical basis and relevant examples will have a good effect on creating more novel mobile mechanism.