A Novel Underactuated Tetrahedral Mobile Robot
Author:
Wang Zhirui1, Tian Yaobin2, Yao Yan-an1
Affiliation:
1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, No.3 Shangyuancun, Haidian District, Beijing 100044, China e-mail: 2. Department of Industrial Engineering and Decision Analytics, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong e-mail:
Abstract
This paper presents a novel underactuated tetrahedral mobile robot with 12 degrees-of-freedom (DOFs). The robot contains four vertices and six URU chains (where U represents a universal joint and R represents an actuated revolute joint). The tetrahedral structure makes the robot have continuous mobile ability at any posture. The mobility analysis has been made and demonstrates the feasibility of underactuated which demands fewer devices and low costs. A kind of rolling locomotion of the robot is proposed, and the feasibility of the locomotion is proved by the kinematic and locomotion analysis based on an equivalent planar mechanism. Finally, a prototype is manufactured and a series of experiments are performed to verify the mobile capability of the robot.
Funder
Ministry of Science and Technology of the People's Republic of China National Natural Science Foundation of China
Publisher
ASME International
Subject
Mechanical Engineering
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