Gait Research On Variable Tetrahedral Robot

Unknown and irregular planetary environment pose critical problems for space exploration.Mission goals lead to requirements for variable configuration, appropriate locomotion mode andadaptability for circumstance. Variable Tetrahedral Robotics based on ANTS (Autonomous NanoTechnology Swarm) and ART (Addressable Reconfigurable Technology) is capable of compoundlocomotion and certain deformability, which made it a significant research orientation. Based on this,analysis and simulation of walking gait and climbing gait of Variable Tetrahedral Robotics have beendone in the paper. The main contents are shown as follows:Both static and dynamic stability of walking gait are discussed. By means of unilateralmovement sequence diagrams, a walking gait is planned on account of static stability criterion. Theeffectiveness and dynamic stability of walking gait is analyzed and simulated using ADAMS andMatlab. The walking gait cannot meet the dynamic stability is revised and a modified gait isformulated.Kinds of wall-climbing gait are analyzed and simulated using dynamic software ADAMS. Thestatic stable condition on vertical wall is given. The influence of contact force and static frictioncoefficient on adhesive ability is discussed. The simulation indicates that contact force and staticfriction coefficient are the key parameters affecting climbing features. As contact force and staticfriction coefficient decrease, the effective displacement is getting smaller and negative velocitygetting larger during a motion cycle. The undersize parameters will lead to failure.