Analysis And Simulation Of The Feasibility Of A Self-deformable Reconfigurable Multi-mode Obstacle-crossing Mobile Robot

In this paper, a reconfigurable multi-mode walking-rolling mobile robot is used as a motion unit foot. Through a self-deformable reconfigurable multi-mode obstacle-crossing robot that can make different motion unit feet in different motion modes for obstacle climbing is proposed. The mobile robot is composed of 4 reconfigurable multi-mode stepping mobile robot motion units and I-shaped brackets with the same structure. Through gait analysis, it is found that the mechanism has two different movements: four-bar walking over obstacles and six-bar deformation over obstacles rolling. Through the establishment of the virtual prototype and simulation environment of the robot in ADAMS, simulation experiments were carried out for each movement mode to simulate and verify the feasibility of each movement mode.