Design and Implementation of Four-link Robot Crawler with Variable Structure

A kind of crawler-type robot with variable structure based on four-bar linkage was designed to solve the obstacle clearance problem. Firstly, the design scheme of the variable structure tracked robot was proposed, and the virtual prototype was designed. Then the mathematical model between the deform...

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Bibliographic Details
Published inIOP conference series. Materials Science and Engineering Vol. 428; no. 1; pp. 12060 - 12065
Main Authors Yuting, Zhao, Baoling, Han, Qingsheng, Luo, Kailing, Li
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.10.2018
Subjects
Barriers
Deformation
Design
Elongation
Numerical analysis
Robots
Virtual prototyping
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Summary:A kind of crawler-type robot with variable structure based on four-bar linkage was designed to solve the obstacle clearance problem. Firstly, the design scheme of the variable structure tracked robot was proposed, and the virtual prototype was designed. Then the mathematical model between the deformation of the four-bar linkage and the total length of the track was established. the numerical analysis shows that the total length of the track is 0.91% in the deformation process, which is smaller than the elongation of the general rubber track. The feasibility of the scheme was verified theoretically. Finally, a physical prototype experiments were carried out and experiments show that the variable structure crawler could achieve good obstacle performance through deformation.
ISSN:1757-8981
1757-899X
1757-899X
DOI:10.1088/1757-899X/428/1/012060