Obstacle-crossing Gait Planning of a Tetrahedron Mobile Mechanism with 6-URU Branch

doi:10.3901/JME.2021.23.085

Abstract

Abstract: Based on high terrain adaptability of polyhedron robot, a kind of climbing method with high center of mass position (CMP) for obstacle-crossing is proposed. The locomotion is able to improve the CMP of mechanism with three degrees of freedom synchronous to cross obstacle. Firstly, based on the triangular supporting area of tetrahedron mobile mechanism, a kind of triangular grid with projection distortion nearby the obstacle is divided. From this, three phases of obstacle-crossing are proposed. Especially, the height of obstacle that can be passed is improved by constructing the external shape of a concave polyhedron to cover obstacle. The kinematics calculations of critical state for each phase are constructed. The mass center expression of obstacle height and distance is deduced by homogeneous transformation matrix. The maximum height along with motion angle and distance is figured out using numerical algorithm. Obstacle with different heights can be passed by executing to different phases of the obstacle-crossing gait. The simulation model is established and the correctness of theoretical analysis is proved. A prototype is manufactured to verify the climbing locomotion with high CMP for obstacle-crossing.

Key words: tetrahedron mechanism, mobile mechanism, motion planning, obstacle-crossing capability, locomotion gaits planning

CLC Number:

TP242

ZHAO Ziming, LI Yezhuo, YAO Yanan, LI Ruiming, ZHANG Qianqian. Obstacle-crossing Gait Planning of a Tetrahedron Mobile Mechanism with 6-URU Branch[J]. Journal of Mechanical Engineering, 2021, 57(23): 85-96.

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