Design And Research On Modular Telescopic Unit And Polyhedron Robot

In this paper,two new configurations of modular telescopic units are proposed.The two new configurations have the advantages of high integration,large expansion,high precision and so on.Then based on the modular telescopic units,we designed and made a double Tri-Prism prototype,and realized the self-crossed motion of the prototype by controlling The real-time displacement of each telescopic unit by wireless communication.The principle of the self-crossed movement of the prototype can be applied to climbing pipelines,caves and other places where humans are difficult to explore.First of all,through the research on the structural characteristics of the telescopic unit,three new schemes of telescopic units with compact structure and large scalability are proposed:(1)nuts stacking telescopic unit;(2)motor biased telescopic unit;(3)double headed and multistage nested telescopic unit.On the basis of the comparative analysis of the above three schemes and the design requirements of the polyhedron prototype,the t motor biased telescopic unit and the double headed and multistage nested telescopic unit are studied deeply.Moreover,the modular thinking is intergrated into the telescopic unit.The battery,control panel,displacement sensor,motor,wireless communication module,etc.are integrated into an organic whole.Then according to the control principles of the modular telescopic unit,the double Tri-Prism prototype self-crossed polyhedron prototype is built.The prototype mainly consists of three triangular platforms.Each platform is connected by revolute joints and translational joints.We realized the infinite cross between the various triangular platforms through controlling The real-time displacement of each telescopic unit by wireless communication.The prototype not only validates the practicability of the modular telescopic unit,but also verifies the feasibility of the modular telescopic unit to construct a polygonal prototype with large deformation ability.This paper will provide a design basis for modular telescopic units and polygonal bodies with larger deformability based on telescopic units.