Research On Robots Based On Deployable Mechanism

Robots are increasingly widely used in production,life,military,aerospace,and other fields;and variants of various structural innovations are also emerging in an endless stream;but among them,there are very few deployable robots that can greatly change their size and shape.In response to the need to greatly change the size and shape of the robot,this paper proposes a new type of modular deployable mechanism robot driven by a flexible bellows airbag based on the Sarrus mechanism.It uses the Sarrus mechanism to replace the connecting rod of the robot to achieve the design goal of drastically changing the size and shape of the robot.Based on the research of the Sarrus mechanism,a deployable connecting rod with a large extension rate and an end effector were designed.On this basis,the structure of the deployable mechanism robot is designed with a modular method,and a plane three-degree-of-freedom PRP type deployable mechanism robot is obtained.Then the forward kinematics analysis and inverse kinematics analysis of the deployable mechanism robot are carried out.A flexible bellows-type foldable airbag driving scheme was designed for the deployable mechanism robot.The structure and manufacturing process of the airbag were described,and theoretical analysis and performance tests were carried out.The overall plan of the control system is introduced;then the main control module,drive module,signal feedback module,and communication module of the hardware platform are described in detail.The test platform of the deployable mechanism robot was built,and the deployable link module,the revolving joint module and the end effector module of the robot were calibrated separately.Finally,a grasping experiment was carried out on the whole robot to verify the feasibility of the robot.