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Alternative TitleMechanical design and motion experiment of a single link-type reconfigurable modular robot module
刘金国; 李斌; 王越超; 马书根
Source Publication机械设计与制造
Contribution Rank1
Funding Organization国家863计划资助项目(2001AA422360)
Keyword可重构模块机器人 变形机器人 模块 链式机构
Other AbstractA novel manually reconfigurable and shape shifting link-type modular mechanism has been proposed. A standard such module is mainly composed of the link arm, the link handle, the track driven system, the offset pitch joint, the offset yaw joint and so on. The adjacent modules connect through the link arm and the link handle. After modification of the standard module, the single module's mobility has been improved in 3-D space with a composite structure of track, wheel, arm and leg. After planning of its locomotion configuration, locomotion experiments of a single-module robot have been made on the slope, over the vertical obstacle, over the stairs and on the debris. Experiment results have demonstrated that such kind structure has the future potential of reconfiguring and application in the unstructured environment.
Document Type期刊论文
Corresponding Author刘金国
Recommended Citation
GB/T 7714
刘金国,李斌,王越超,等. 链式可重构机器人单模块结构设计与运动实验[J]. 机械设计与制造,2005,43(8):94-96.
APA 刘金国,李斌,王越超,&马书根.(2005).链式可重构机器人单模块结构设计与运动实验.机械设计与制造,43(8),94-96.
MLA 刘金国,et al."链式可重构机器人单模块结构设计与运动实验".机械设计与制造 43.8(2005):94-96.
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