Jianjun Qin
Department of Mechanical-electronic and Vehicle Engineering, Beijing University of Civil Engineering and Architecture, 100044, Beijing, China
Yan-an Yao
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, 100044, Beijing, China
Delong Kong
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, 100044, Beijing, China
Yongfeng Liu
Department of Mechanical-electronic and Vehicle Engineering, Beijing University of Civil Engineering and Architecture, 100044, Beijing, China
ABSTRACT
To simplify locomotive robot structure and reduce its volume, single loop polygonal closed chain is implemented as its body, which is composed by same cell and node so as to expand easily. The linkage and its retractile ability are being introduced as the walk mechanism can not only reduce the robots volume and solve the strict transportation space but also satisfy the huge obstacle-surmounting requirement. The triangle robot is a single RPR-PRP six bar mechanism so the linkages length relationship condition when it rolls on typical landforms, such as flat, slope, stage and trench,can be analyzed and computed. Two properties, called move equation and roll condition, are introduced to help explain the move process. Then the systems dynamic equation is built by Lagrange's Equations of motion under the hypothesis of every linkage has same mass and shape. Finally, an example including the visual linkage dimension relationships of the robot is given and the conceptual prototype and its real walk pictures on the flat are presented. It is shown that the closed chain locomotive robot composed by the telescopic linkages could have good cross-country performance and obstacle climbing ability under the condition of smaller original volume.
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How to cite this article
Jianjun Qin, Yan-an Yao, Delong Kong and Yongfeng Liu, 2013. Dynamic Characters Analysis for Single Loop Six-bar Closed Chain Locomotive Robot. Information Technology Journal, 12: 3970-3975.
DOI: 10.3923/itj.2013.3970.3975
URL: https://scialert.net/abstract/?doi=itj.2013.3970.3975
DOI: 10.3923/itj.2013.3970.3975
URL: https://scialert.net/abstract/?doi=itj.2013.3970.3975
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