| The polyhedron robot is a kind of polyhedral mechanism composed of connecting link type spatial multi-ring closed chain mechanism,which has the characteristics of strong obstacle crossing performance in the application process,and can pass in complex and diverse terrain.Based on parallel linkage mechanism,a linkage omnidirectional moving polyhedron mechanism with multi-mode characteristics is proposed in this paper,and the configuration design,motion mode and kinematics analysis,virtual prototype simulation analysis,moving path analysis,prototype design and experimental research of the mechanism are carried out.Firstly,based on the 4-RSR parallel mechanism and the concept of multi-mode mechanism,the configuration design of the connecting rod omni-directional moving polyhedron mechanism is carried out,and the degree of freedom of the mechanism is analyzed on the basis of the configuration design.According to the multi-mode characteristics of the mechanism,the gait analysis is carried out for six motion modes: 4-RRR parallel mechanism mode,parallelogram motion mode,Watt chain motion mode,6R chain motion mode,clamping 6R chain motion mode and direction adjustment mode.Based on the analysis principle of equivalent plane mechanism,the kinematic models of the other five motion modes except the direction adjustment mode are established,the stability of the parallelogram mode is analyzed by using the zero moment point theory,and the motion analysis of the direction adjustment mode with complex spatial motion is carried out by means of simulation experiment to verify the feasibility of each motion mode.Secondly,the three-dimensional model of the connecting rod omni-directional moving polyhedron mechanism is imported into the Adams software,and the simulation experiments of parallelogram motion mode,Watt chain motion mode,6R chain motion mode,clamping 6R chain motion and direction adjustment mode are carried out.The driving control strategy of each motion mode is formulated,and the relevant motion data are obtained,which provides data support for the production and experiment of physical prototype.Based on the combined motion between motion modes,the path planning of the mechanism is carried out,and the omnidirectional movement ability of the mechanism is verified.Thirdly,based on the redundant motor configuration,the physical prototype of the connecting rod omni-directional moving polyhedron mechanism is designed and manufactured.The model of key components is determined,the control framework of the prototype is designed,the processing and assembly of the prototype is completed,and the prototype experiments of each motion mode of the mechanism are carried out to verify the correctness of the theoretical analysis and the feasibility of the motion mode.In this paper,a new polyhedral mobile mechanism with multiple motion modes is proposed,which has simple and light structure and folding deformation ability.Through theoretical modeling calculation,simulation analysis and prototype experiment,the feasibility of structural design and the correctness and effectiveness of analysis method are verified,which provides a new research idea and analysis method for improving the mobility of polyhedral mobile mechanism. |
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