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Prototype design of a rubik snake robot
Zhang X(张鑫); Liu JG(刘金国)
作者部门空间自动化技术研究室
会议名称3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015)
会议日期July 20-22, 2015
会议地点Beijing, China
会议录名称Mechanisms and Machine Science
出版者Kluwer Academic Publishers
出版地Dordrecht, Netherlands
2015
页码581-591
收录类别EI
EI收录号20154801631615
产权排序1
ISSN号2211-0984
关键词Reconfigurable Modular Mechanism Geometric Characteristics Structural Statics And Dynamics Analysis
摘要This paper presents a reconfigurable modular mechanism—Rubik Snake robot, which can change its configurations by changing the position relationship of modules. The geometric characteristics and design process of the module are described in detail, and the module’s features ensure Rubik Snake robot to own a strong ability of transformation and manipulation. Through the structural statics and dynamics analysis, the mechanical properties of the system are verified to meet the requirements of missions. Furthermore, a platform was fabricated, and a configurations experiment identified the rationality of the platform. Two potential space applications of Rubik Snake robot: reconfigurable structures and reconfigurable mechanisms, are introduced to fulfill the future space station missions. We hope our study will give insights into the reconfigurable modular robot applications on future space application.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17324
专题空间自动化技术研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Zhang X,Liu JG. Prototype design of a rubik snake robot[C]. Dordrecht, Netherlands:Kluwer Academic Publishers,2015:581-591.
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