Design and stability analysis of the gear-type mobile mechanism with a single actuator

被引:0
作者
Shi, Kan [1 ]
Tang, Jianglong [1 ]
Liu, Jiachao [1 ]
Yuan, Liang [1 ,2 ]
机构
[1] Shandong Univ Sci & Technol, Coll Mech & Elect Engn, Qingdao 266590, Peoples R China
[2] Beijing Univ Chem Technol, Coll Informat Sci & Technol, Beijing 100089, Peoples R China
关键词
ROBOT; LOCOMOTION; WALKING;
D O I
10.1038/s41598-024-51248-8
中图分类号
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号
07 ; 0710 ; 09 ;
摘要
Gear mechanism transmits the motion and power of parallel axes, intersecting axes and staggered axes, which has been widely employed in production and life. Gear-type mobile mechanism is a type of robot that can achieve motion through gear transmission. Due to its unique motion mode, it can handle various tasks in certain unconventional environments, such as particularly steep surfaces. Cylindrical gear, bevel gear and non-cylindrical gear are taken as the main parts of the mechanism to form a novel research series, respectively. The models of gear-type mobile mechanism are established in this paper, and the degrees of freedom of the mechanism are briefly calculated based on the screw theory. Simultaneously, the influence of centroid trajectory on motion stability is discussed to solve the possible problem that opposite rotation occur during the movement. Furthermore, the trajectory model of zero moment point is calculated considering the motion of the gear-type mobile mechanism. After that, the simulation and experimental analysis of its motion capability show that the gear-type mobile mechanism has excellent characteristics in stability, flexibility and continuity.
引用
收藏
页数:14
相关论文
共 28 条
[1]  
Armour R. H., 2006, J BIONIC ENG, V3, P195, DOI DOI 10.1016/S1672-6529(07)60003-1
[2]   Spherical Robots for Special Purposes: A Review on Current Possibilities [J].
Bujnak, Marek ;
Pirnik, Rastislav ;
Rastocny, Karol ;
Janota, Ales ;
Nemec, Dusan ;
Kuchar, Pavol ;
Tichy, Tomas ;
Lukasik, Zbigniew .
SENSORS, 2022, 22 (04)
[3]   UNIQUE FORM OF LOCOMOTION IN A STOMATOPOD - BACKWARD SOMERSAULTING [J].
CALDWELL, RL .
NATURE, 1979, 282 (5734) :71-73
[4]   Design and implementation of a novel spherical robot with rolling and leaping capability [J].
Chang, Wei-Jer ;
Chang, Chih-Ling ;
Ho, Jen-Hung ;
Lin, Pei-Chun .
MECHANISM AND MACHINE THEORY, 2022, 171
[5]   A Review of Active Mechanical Driving Principles of Spherical Robots [J].
Chase, Richard ;
Pandya, Abhilash .
ROBOTICS, 2012, 1 (01) :3-23
[6]   Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree of freedom [J].
Hao Yanlin ;
Tian Yaobin ;
Wu Jianxu ;
Li Yezhuo ;
Yao Yan-An .
FRONTIERS OF MECHANICAL ENGINEERING, 2020, 15 (03) :365-373
[7]   Marsbot: A monopod robot capable of achieving three-dimensional dynamic and stable jumping [J].
Haoran, Shi ;
Yong, Xu ;
Jiali, Liu ;
Xinyang, Jiang ;
Jie, Yang .
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2022, 236 (01) :552-565
[8]   Optimal Walking Gait Generator for Biped Robot Using Modified Jaya Optimization Technique [J].
Ho Pham Huy Anh ;
Tran Thien Huang .
INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS, 2020, 13 (01) :382-399
[9]   Singularities in the rolling motion of a spherical robot [J].
Ivanov, Alexander P. .
INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS, 2022, 145
[10]   Stable walking of biped robot based on center of mass trajectory control [J].
Jing, Chenglin ;
Zheng, Jiajia .
OPEN PHYSICS, 2020, 18 (01) :328-337