摘要
提出了一种具有特殊结构的六杆球面变胞机构,并对该机构进行了构态变化分析,给出了在不同构态时机构的邻接矩阵.依据机构在不同构态时的特殊性质,将该球面变胞机构应用于变结构腿轮式探测车车身的设计.通过车身机构的自我重构以及腿式和轮式结构的变换,使这种探测车能更好地适应星球等复杂环境的探测.对此新型变结构机器人的结构进行了详细的描述,并对机构的自由度进行了分析,同时给出了探测车的典型变形构态.
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.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2007年第7期838-841,共4页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家自然科学基金资助项目(50675016)
关键词
变胞机构
构态
腿轮式探测车
自由度
metamorphic mechanisms
configuration
leg-wheels rover
mobility
