Design and reconfiguration analysis of the trunk mechanism for a reconfigurable wheeled mobile platform

Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI:10.1115/1.4064740

Xinyu Teng, Yezhuo Li, Yang Liu, Yanan Yao

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Abstract

This paper proposes a reconfigurable wheeled mobile platform (RWMP) consisting of two two-wheeled mobile robots and a reconfigurable trunk. The reconfigurable trunk is a 6R multi-mode single-loop mechanism (SLM) that is obtained by inserting two revolute (R) joints with intersected axes into a planar rhombus 4R mechanism. The 6R mechanism has reconfigurable characteristics owing to changes in the wrench system. All six motion modes and their constraint equations of the 6R mechanism are obtained by solving the closed-loop equation based on the D-H transformation matrix. The analysis shows that the mechanism has six single-DOF motion modes, including a planar rhombus 4R mode, two overconstrained spatial 6R modes, and three coaxial 1R modes. The motion characteristics of the six motion modes are identified using screw theory. The six transition configurations among different modes are identified by combining the constraint equations of each mode. The locomotion modes of the RWMP are designed based on the reconfiguration analysis of the trunk mechanism. The locomotion effect of the RWMP under two confined spaces are verified by simulation analysis and prototype experiment.

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可重构轮式移动平台主干机构的设计与重构分析

本文提出了一种可重构轮式移动平台（RWMP），由两个双轮移动机器人和一个可重构主干组成。可重构主干是一个 6R 多模式单回路机构（SLM），它是通过在平面菱形 4R 机构中插入两个轴线相交的外卷（R）关节而得到的。由于扳手系统的变化，6R 机构具有可重新配置的特性。通过求解基于 D-H 变换矩阵的闭环方程，可以得到 6R 机构的所有六种运动模式及其约束方程。分析表明，该机构具有六种单多维运动模式，包括一种平面菱形 4R 模式、两种超约束空间 6R 模式和三种同轴 1R 模式。利用螺杆理论确定了六种运动模式的运动特性。结合每种模式的约束方程，确定了不同模式之间的六种过渡配置。根据对躯干机构的重新配置分析，设计了 RWMP 的运动模式。通过仿真分析和原型实验验证了 RWMP 在两个密闭空间下的运动效果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Journal of Mechanisms and Robotics

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