Design and Implementation of Four-link Robot Crawler with Variable Structure

3rd International Conference on Automation, Control and Robotics Engineering

工业技术;计算机科学;无线电电子学

Yuting, Zhao^1 ; Baoling, Han^1 ; Qingsheng, Luo^2 ; Kailing, Li^1

School of Mechanical Engineering, Beijing Institute of Technology, Beijing

100081, China^1

School of Mechatronical Engineering, Beijing Institute of Technology, Beijing

100081, China^2

关键词: Deformation process;    Design and implementations;    Four-bar linkage;    Four-link robots;    Obstacle clearance;    Obstacle performance;    Prototype experiment;    Variable structures;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/428/1/012060/pdf
DOI  :  10.1088/1757-899X/428/1/012060

来源: IOP

【 摘 要 】

A kind of crawler-type robot with variable structure based on four-bar linkage was designed to solve the obstacle clearance problem. Firstly, the design scheme of the variable structure tracked robot was proposed, and the virtual prototype was designed. Then the mathematical model between the deformation of the four-bar linkage and the total length of the track was established. the numerical analysis shows that the total length of the track is 0.91% in the deformation process, which is smaller than the elongation of the general rubber track. The feasibility of the scheme was verified theoretically. Finally, a physical prototype experiments were carried out and experiments show that the variable structure crawler could achieve good obstacle performance through deformation.