Development of a reconfigurable robot´s turning method with line configuration

Author

Jian Chang ; Chengdong Wu ; Hong Shang ; Bin Li

Author_Institution

State Key Lab. of Robot., Shenyang Instixute of Autom., Shenyang, China

fYear

2012

fDate

6-8 July 2012

Firstpage

61

Lastpage

66

Abstract

The shape-shifting robot is one of the kinds of the robot and it can change it´s configuration according to the environment. A method is proposed to solve the shortcomings of the traditional method of robot´s chain turning, which can shorten the time and radius of turning. The turning resistance moment can be also reduced. The mathematical model is built and the resistance torque and required force is computed By the analysis of experiment, the current of jaw motor does not exceed the limit load of the motor and it is more quick and smooth comparing to the link-turning. The validity and enforceability of the turning is proved by simulations and experiments.

Keywords

mathematical analysis; mobile robots; jaw motor; line configuration; mathematical model; reconfigurable robot; resistance torque; robot chain turning; shape-shifting robot; turning method; turning resistance moment; Automation; Educational institutions; Information science; Magnetic resonance; Resistance; Robots; Turning; line configuration; shape-shifting; skid-turning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Conference_Location

Beijing

Print_ISBN

978-1-4673-1397-1

Type

conf

DOI

10.1109/WCICA.2012.6357840

Filename

6357840