机械科学与技术2025，Vol.44Issue(9)：1530-1542,13.DOI:10.13433/j.cnki.1003-8728.20230310
一种具有大折展比的便携式移动机器人的设计与分析
Design and Analysis on a Portable Mobile Robot with High Aspect Ratio
摘要
Abstract
For robots that having multiple sports modes can achieve significant structural changes,reduce space proportion and convenient to carry during task execution,this article proposes a large folding ratio mobile robot with foldable platform,which can undergo structural changes and has multiple motion modes.The robot has six modes:quadrilateral rolling mode,hexagonal rolling mode,quadruped crawling mode,fully folded mode I and fully folded mode II.First of all,by designing and analyzing the flexibility of robots in two dimensions,it can be concluded that the platform,branch chains,and overall structure of the robot all have a large folding ratio.Robots can facilitate institutional transportation and portability,and the degrees of freedom of various motion modes of the robot is analyzed through the theory of spinors.Secondly,through the analysis of the robot's drive,it can be seen that the conversion and movement of various modes of the robot can be achieved through time-sharing control between electrodes.In the end,the folding and unfolding motion of the robot is simulated using ADAMS software,verified the correctness and feasibility of the robot design.It has certain theoretical reference significance for the development and production of multimodal mobile robots that adapt to different environments and have large folding characteristics.关键词
多模式移动机器人/可重构/折展Key words
multi-mode mobile robot/reconfiguration/folding分类
机械制造引用本文复制引用
李文倩,张春燕,平安,杨杰..一种具有大折展比的便携式移动机器人的设计与分析[J].机械科学与技术,2025,44(9):1530-1542,13.基金项目
国家自然科学基金目(52005317)与上海市研究生科研创新基金项目(19KY0151) （52005317）
