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