Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot

In order to solve the problem of loss of locomotion ability due to overturning and instability during the movement of a mobile robot, a multi-mode omnidirectional ground mobile robot with a deformable structure is proposed. Single-loop is used as the unit, and the three-direction geometric deformati...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Chunyan Zhang*, Xinxing Jiang, Xiangyu Liu, Dan Zhang
Formato:	article
Lenguaje:	EN
Publicado:	Faculty of Mechanical Engineering in Slavonski Brod, Faculty of Electrical Engineering in Osijek, Faculty of Civil Engineering in Osijek 2021
Materias:	Multi-mode Obstacle crossing Omnidirectional mobile robot Single-loop Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/3fe84a4d6dfd49b9b8143b29924e5423
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:3fe84a4d6dfd49b9b8143b29924e5423
record_format	dspace
spelling	oai:doaj.org-article:3fe84a4d6dfd49b9b8143b29924e54232021-11-07T00:36:46ZSingle-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot1330-36511848-6339https://doaj.org/article/3fe84a4d6dfd49b9b8143b29924e54232021-01-01T00:00:00Zhttps://hrcak.srce.hr/file/383618https://doaj.org/toc/1330-3651https://doaj.org/toc/1848-6339In order to solve the problem of loss of locomotion ability due to overturning and instability during the movement of a mobile robot, a multi-mode omnidirectional ground mobile robot with a deformable structure is proposed. Single-loop is used as the unit, and the three-direction geometric deformation can be realized by controlling its R joints in time sharing. The 4-RRRRRR parallel mobile robot formed by two closed-loops orthogonally has four different rolling modes, and each mode can be switched between each other. Once the robot is overturned and unstable during the movement, it can be deformed into other modes and continue to move. After the description of the robot, the DOF (degree-of-freedom) is calculated based on the screw theory. Gait planning and locomotion feasibility analysis indicate that the robot can realize four locomotion modes and their mutual switching. Finally, the simulations and prototype experiments are presented to verify the feasibility of the different locomotion modes and the ability of the obstacle crossing.Chunyan Zhang*Xinxing JiangXiangyu LiuDan ZhangFaculty of Mechanical Engineering in Slavonski Brod, Faculty of Electrical Engineering in Osijek, Faculty of Civil Engineering in Osijek articleMulti-modeObstacle crossingOmnidirectional mobile robotSingle-loopEngineering (General). Civil engineering (General)TA1-2040ENTehnički Vjesnik, Vol 28, Iss 6, Pp 2015-2026 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Multi-mode Obstacle crossing Omnidirectional mobile robot Single-loop Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Multi-mode Obstacle crossing Omnidirectional mobile robot Single-loop Engineering (General). Civil engineering (General) TA1-2040 Chunyan Zhang* Xinxing Jiang Xiangyu Liu Dan Zhang Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot
description	In order to solve the problem of loss of locomotion ability due to overturning and instability during the movement of a mobile robot, a multi-mode omnidirectional ground mobile robot with a deformable structure is proposed. Single-loop is used as the unit, and the three-direction geometric deformation can be realized by controlling its R joints in time sharing. The 4-RRRRRR parallel mobile robot formed by two closed-loops orthogonally has four different rolling modes, and each mode can be switched between each other. Once the robot is overturned and unstable during the movement, it can be deformed into other modes and continue to move. After the description of the robot, the DOF (degree-of-freedom) is calculated based on the screw theory. Gait planning and locomotion feasibility analysis indicate that the robot can realize four locomotion modes and their mutual switching. Finally, the simulations and prototype experiments are presented to verify the feasibility of the different locomotion modes and the ability of the obstacle crossing.
format	article
author	Chunyan Zhang* Xinxing Jiang Xiangyu Liu Dan Zhang
author_facet	Chunyan Zhang* Xinxing Jiang Xiangyu Liu Dan Zhang
author_sort	Chunyan Zhang*
title	Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot
title_short	Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot
title_full	Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot
title_fullStr	Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot
title_full_unstemmed	Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot
title_sort	single-loop full r joints of multi-mode omnidirectional ground mobile robot
publisher	Faculty of Mechanical Engineering in Slavonski Brod, Faculty of Electrical Engineering in Osijek, Faculty of Civil Engineering in Osijek
publishDate	2021
url	https://doaj.org/article/3fe84a4d6dfd49b9b8143b29924e5423
work_keys_str_mv	AT chunyanzhang singleloopfullrjointsofmultimodeomnidirectionalgroundmobilerobot AT xinxingjiang singleloopfullrjointsofmultimodeomnidirectionalgroundmobilerobot AT xiangyuliu singleloopfullrjointsofmultimodeomnidirectionalgroundmobilerobot AT danzhang singleloopfullrjointsofmultimodeomnidirectionalgroundmobilerobot
_version_	1718443605343862784

Single-Loop Full R Joints of Multi-Mode Omnidirectional Ground Mobile Robot

Ejemplares similares