Design and analysis of a novel octopod platform with spatial 8R reconfigurable trunk

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Mechanism and Machine Theory Pub Date : 2024-11-26 DOI:10.1016/j.mechmachtheory.2024.105859
Hui Yang, Hong Liu, Liang Zeng, Jianxu Wu, Yan-an Yao
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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.
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具有空间 8R 可重构躯干的新型八足平台的设计与分析
本研究提出了一种具有可重构躯干的八足平台,以增强闭链足系统的行走模式和地形适应性。8R 可重构机构可产生各种步态,根据平台宽度分为宽步态和窄步态。这些步态包括直线行走、零半径转弯、俯仰攀爬和折叠滚动步态,共八种配置。通过步态变化实现姿势控制和宽度切换。运动学模型分析了运动奇异性,并制定了运动策略。概率模型评估了障碍物攀爬能力。动态模拟和原型验证评估了在管道地形中的行走速度、攀爬能力和机动性。对斜坡上的平台稳定性以及在管道环境中的能力进行了定量分析。研究证实,可重新配置的躯干提高了闭链式平台对各种步态和地形的适应性。
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来源期刊
Mechanism and Machine Theory
Mechanism and Machine Theory 工程技术-工程:机械
CiteScore
9.90
自引率
23.10%
发文量
450
审稿时长
20 days
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
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