Design and analysis of a rover mechanism based on the metamorphic principle

被引：0

作者：

Zhang, Ketao ^{[1
]}

Fang, Yuefa ^{[1
]}

Fang, Hairong ^{[1
]}

机构：

[1] Department of Mechanical Engineering, Beijing Jiaotong University, Beijing 100044, China

来源：

Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2007年 / 33卷 / 07期

关键词：

Degrees of freedom (mechanics) - Natural resources exploration - Planets - Structural design;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

A kind of special six-bar spherical metamorphic mechanism was proposed. The configuration transformation was analyzed, and the adjacency matrixes under various metamorphic mechanisms were put forward. According to the mechanism characteristic at its different configuration, the metamorphic mechanism was used in the body design of a rover mechanism. The body can transform the configuration itself, and the robot can take the two manners of locomotion (walking in 4-leg mode, moving in wheeled-vehicle mode.), so the rover mechanism has high capability to adapt planet and other exploration terrain. The design of the novel metamorphic robot was described, and its degree of freedom (DOF) at different configuration was introduced. Some typical configurations were illustrated.

引用

页码：838 / 841

共 50 条

[41] Structure Design and Analysis of Metamorphic Mobile Robot Based on Screw Theory
Zhao, Tie J.
Wang, Ya W.
Sun, Meng J.
2018 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR), 2018, : 50 - 55
[42] Design and Analysis of a Humanoid Metamorphic Hand Based on Reconfigurable Hooke Joints
Dai, Jiansheng
An, Wei
Wang, Ruiqin
Li, Lei
Tianjin Daxue Xuebao (Ziran Kexue yu Gongcheng Jishu Ban)/Journal of Tianjin University Science and Technology, 2022, 55 (03): : 221 - 229
[43] Analysis of Environmental Law Enforcement Mechanism Based on Economic Principle
Cao Hongjun
Shao Haohao
Cai Xuesen
2017 3RD INTERNATIONAL CONFERENCE ON ENERGY, ENVIRONMENT AND MATERIALS SCIENCE (EEMS 2017), 2017, 94
[44] DESIGN, ANALYSIS AND TESTING OF A METAMORPHIC GRIPPER
Ziesmer, Jacob A.
Voglewede, Philip A.
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 7, PTS A AND B, 2010, : 775 - 780
[45] Design and Analysis of a metamorphic quadruped robot
Xu, Kun
Ma, Hanxin
Chen, Jiawei
Zhang, Wuxiang
Deng, Huichao
Ding, Xilun
2018 INTERNATIONAL CONFERENCE ON RECONFIGURABLE MECHANISMS AND ROBOTS (REMAR), 2018,
[46] Theoretical Difficulties and Research Progresses of Mechanism Reconfiguration in Mechanisms -Evolution Connotation, Furcation Principle, Design Synthesis and Application of Metamorphic Mechanisms
Kang X.
Dai J.
Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2020, 31 (01): : 57 - 71
[47] Configuration Analysis of Loading Mechanism with Metamorphic Characteristics
Zhang, Lin
Cai, Ganwei
Zhu, Kaijun
Wang, Xiaochun
Li, Zhijie
ADVANCES IN RECONFIGURABLE MECHANISMS AND ROBOTS II, 2016, 36 : 165 - 173
[48] Design and Principle Analysis for Electromagnetic Brake Clamping Mechanism of a Novel Slave Manipulator
Zhang, Linshuai
Guo, Shuxiang
Yu, Huadong
Song, Yu
2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, 2016, : 490 - 495
[49] Chassis design & performance analysis for the European ExoMars rover
Ellery, A
Richter, L
Bertrand, R
TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING, 2005, 29 (04) : 507 - 517
[50] Design, analysis, and testing of Mars Tumbleweed rover concepts
Wilson, Jamie L.
Mazzoleni, Andre P.
DeJarnette, Fred R.
Antol, Jeffrey
Hajos, Gregory A.
Strickland, Christopher V.
JOURNAL OF SPACECRAFT AND ROCKETS, 2008, 45 (02) : 370 - 382

← 1 2 3 4 5 →