Configuration Analysis of a Variable-Topology Mobile Robot

DOI

10.2991/kam-15.2015.23How to use a DOI?

Keywords

variable-topology; mobile robot; configurations; transformation analysis.

Abstract

Based on metamorphic principle, a variable-topology robot is presented to adapt to the conflictive requirements of complex fields. The robot has a body and 4 articulated unit. Each articulated unit consists of transformable link, coxa joint, thigh, knee joint, joint wheel, crus and foot wheel. In different stages, the robot uses some DOFs and meantime locks other DOFs, so it has many changeable configurations. The concepts of all-phase kinematic chain and working-phase mechanism have been presented. Then the topology change of the robot was studied by topological graph theory. The robot’s configuration transformations during the courses of the degenerating process, the aggregating process and the conversing process was analyzed by metamorphic mechanism theory.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Tian Hai-bo
AU  - Li Ai-min
PY  - 2015/06
DA  - 2015/06
TI  - Configuration Analysis of a Variable-Topology Mobile Robot
BT  - Proceedings of the 5th International Symposium on Knowledge Acquisition and Modeling
PB  - Atlantis Press
SP  - 82
EP  - 85
SN  - 1951-6851
UR  - https://doi.org/10.2991/kam-15.2015.23
DO  - 10.2991/kam-15.2015.23
ID  - Hai-bo2015/06
ER  -