Single-DOF Octahedron Robot with Probable Rolling

doi:10.3901/JME.2020.07.044

Abstract

Abstract: A single degrees-of-freedom (DOF) robot with probable rolling is proposed, which is constructed by the geometric configuration of octahedron. The robot consists of 10 links, 12 revolute joints. It can realize rolling with alternate two types of gaits which are directional forward rolling gait and probable turning gait by single DOF scaling deformation. The DOF is calculated by using the screw theory. The stability and the tumbling condition are discussed by the kinematics and motion feasibility analysis. The dynamics model is built and simulated. In the directional forward rolling gait, the orientation of rolling is definite. In the probable turning gait, there are three possible turning orientations. This stochastic process accords with Laplace test under ideal condition with probability of 1/3. The moving path is the connection of orthogonal grid nodes, and the ergodic motion can be realized. A control method is proposed and the motion simulation is carried out. A prototype is manufactured, the forward rolling and turning function is verified through the experiment of motion.

Key words: rolling robot, single DOF, octahedron, probable motion

CLC Number:

TP242

GUAN Yonghan, YAO Yanan, LIU Chao. Single-DOF Octahedron Robot with Probable Rolling[J]. Journal of Mechanical Engineering, 2020, 56(7): 44-51.

References

[1] CURTIS S,BRANDT M,BOWERS G,et al. Tetrahedral robotics for space exploration[J]. Aerospace and Electronic Systems Magazine,2007,22(6):22-30.
[2] CARMICHAEL B L,GIFFORD C M. Modeling and simulation of the seismic TETwalker concept[R]. Tech. Rep. CReSIS-TR-134,2007.
[3] GIFFORD C M,AGAH A,CARMICHAEL B L,et al. Seismic TET walker mobile robot design and modeling[C]//Proceedings of Technologies for Practical Robot Applications,2008:7-12.
[4] LEE W H,SANDERSON A C. Dynamic rolling of modular robots[C]//Proceedings of Robotics and Automation,2000:2840-2846.
[5] LEE W H,SANDERSON A C. Dynamic rolling,locomotion planning,and control of an icosahedral modular robot[C]//Proceedings of Intelligent Robots and Systems,2000:2178-2183.
[6] LEE W H,SANDERSON A C. Dynamic rolling locomotion planning and control of modular robots[J]. Robotics and Automation,2002,18(1):32-41.
[7] TADAKUMA K,TADAKUMA R,NAGATANI K,et al. Throwable tetrahedral robot with transformation capability[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots & Systems,2009:2801-2808.
[8] ZAGAL J C,ARMSTRONG C,LI S. Artificial life 13[M]. Cambridge:MIT Press,2012.
[9] NOZAKI H,KUJIRAI Y,NIIYAMA R,et al. Continuous shape changing locomotion of 32-legged spherical robot[C]//IEEE International Conference on Intelligent Robots and Systems,2018:2721-2726.
[10] LIU Changhuan,YAO Yanan,LI Ruiming,et al. Rolling 4R linkages[J]. Mechanism and Machine Theory,2012,48:1-14.
[11] 姚燕安,翟美丽,刘超.基于一种新型空间6R机构的滚动机器人[C]//第十届中国机构与机器科学应用国际会议(CCAMMS 2013),7月8-12日,2013,中北大学,太原,中国.上海:机械设计与研究,2013:204-208. YAO Yanan,ZHAI Meili,LIU Chao. A Rolling robot based on a novel spatial 6R Mechanism[C].//10th China Conference on the Application of Mechanism and Machinery Science,July 8-12,2013,North University of China,Taiyuan,China. Shanghai:Machine Design & Research,2013:204-208.
[12] 田耀斌,郭一竹,刘长焕,等.单自由度概率翻转移动连杆机构[J].机械工程学报,2011,47(3):14-20. TIAN Yaobin,GUO Yizhu,LIU Changhuan,et al. Single-DOF mobile linkage with possibility orientation movements[J]. Journal of Mechanical Engineering,2011,47(3):14-20.
[13] GUO Yizhu,LIU Changhuan,YAO Yanan,et al. Control method and motion path simulation of a mobile robot[C]//2010 International Conference on Computer Application and System Modeling (ICCASM 2010),Ocotober 22,2010,North University of China,Taiyuan,China. Shanghai:Machine Design & Research,2010:638-642.
[14] TAKANISHI A,LIM H O,TSUDA M,et al. Realization of dynamic biped walking stabilized by trunk motion on a sagitally uneven surface[C]//International Conference on Intelligent Robots and Systems. 1989:323-330.
[15] 盛骤,谢式千,潘承毅.概率论与数理统计[M]. 4版.北京:高等教育出版社,2008. SHENG Zhou,XIE Shiqian,PAN Chengyi. Probability theory and mathematical statistics[M]. 4th Edition. Beijing:Higher Education Press,2008.