Design and analysis of a multi-mode mobile robot based on a parallel mechanism with branch variation

• Published in: Mechanism and machine theory Vol. 130; pp. 276 - 300
• Main Authors: Li, Yezhuo, Yao, Yan-an, He, Yanying
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.12.2018
• Subjects: Mechanism with branch variation; Mobile parallel robot; Moving ability analysis; Multiple locomotion modes; Topological structure analysis; Multiple locomotion modes; Topological structure analysis; Moving ability analysis; Mechanism with branch variation; Mobile parallel robot
• ISSN: 0094-114X; 1873-3999
• DOI: 10.1016/j.mechmachtheory.2018.07.018

•A novel reconfigurable robot is presented based on the design idea of branch variation.•The reconfigurable robot can be reconfigured to execute tracked locomotion mode, legged locomotion mode and wheeled locomotion mode.•The topological structures of the robot in the 3 locomotion modes with 7 gaits are analyzed by adjacency matrixes and transformation equations.•The moving ability of the 3 locomotion modes are analyzed and simulated.•Experimental results of physical prototypes of the robot are presented. In this paper we propose the design idea of branch variation of a mobile parallel mechanism so that it can execute different locomotion modes. A novel robot is presented based on this idea, which can be reconfigured to be different equivalent mobile robots in topological structure. The robot is a four-limbed parallel mechanism in which each limb contains eight revolute joints. Based on the branch variation with topological reconfiguration of the parallel mechanism, the robot has 3 locomotion modes with 7 gaits to reply to different situations by analyzing its topological structure via adjacency matrixes and transformation equations. Tracked locomotion mode is realized by the motion of platforms as a 3-dof (degree of freedom) planar 6R closed-loop mechanism which can operate obstacles. Legged mode is realized by the deforming of four limbs to carry out trot-walking gait with 1-dof mechanism units. Wheeled mode is realized by the relative motion between each limb and platforms as a 4-dof mechanism to carry out fast moving and direction switching in this mode. To verify the locomotion modes and functionality of the robot, we present the results of a series of experiments, performed on a simulation system and a manufactured prototype.