Hui Yang, Hong Liu, Liang Zeng, Jianxu Wu, Yan-an Yao
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引用次数: 0
Abstract
This study proposes an octopod platform with a reconfigurable trunk to enhance walking patterns and terrain adaptability in closed-chain-legged systems. An 8R reconfigurable mechanism generates various gaits, classified into wide and narrow categories based on platform width. These include straight-line walking, zero-radius turning, pitching climbing, and folding rolling gaits, totaling eight configurations. Posture control and width switching are achieved through gait changes. Kinematic models analyze motion singularities and motion strategies are established. A probabilistic model evaluates obstacle climbing proficiency. Dynamic simulations and prototype validation assess walking speed, climbing, and mobility in pipeline terrains. Platform stability on slopes is quantitatively analyzed, as are capabilities within pipeline environments. The study confirms that a reconfigurable trunk improves adaptability to various gaits and terrains in closed-chain-legged platforms.
期刊介绍:
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry