{"title":"仿生四足机器人的变形机理与重构","authors":"Zhao Tang, J. Dai","doi":"10.1115/DETC2018-85134","DOIUrl":null,"url":null,"abstract":"This paper presents reconfiguration with mobility change of an 8-bar metamorphic single-loop mechanism consisting of 8 revolute joints. Higher order analyses are employed to determine the local mobility of two special bifurcated positions of this 8-bar linkage. All the sub-motion branches and their connections of these two singular positions are revealed. Then a biomimetic quadruped robot is built by adopting the reconfigurable 8-bar linkage as its trunk. Based on the configuration spaces of this metamorphic mechanism, two strategies are introduced to control the reconfiguration between different modes.","PeriodicalId":142043,"journal":{"name":"Volume 1A: 38th Computers and Information in Engineering Conference","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Metamorphic Mechanism and Reconfiguration of a Biomimetic Quadruped Robot\",\"authors\":\"Zhao Tang, J. Dai\",\"doi\":\"10.1115/DETC2018-85134\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents reconfiguration with mobility change of an 8-bar metamorphic single-loop mechanism consisting of 8 revolute joints. Higher order analyses are employed to determine the local mobility of two special bifurcated positions of this 8-bar linkage. All the sub-motion branches and their connections of these two singular positions are revealed. Then a biomimetic quadruped robot is built by adopting the reconfigurable 8-bar linkage as its trunk. Based on the configuration spaces of this metamorphic mechanism, two strategies are introduced to control the reconfiguration between different modes.\",\"PeriodicalId\":142043,\"journal\":{\"name\":\"Volume 1A: 38th Computers and Information in Engineering Conference\",\"volume\":\"9 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-08-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Volume 1A: 38th Computers and Information in Engineering Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1115/DETC2018-85134\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Volume 1A: 38th Computers and Information in Engineering Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/DETC2018-85134","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Metamorphic Mechanism and Reconfiguration of a Biomimetic Quadruped Robot
This paper presents reconfiguration with mobility change of an 8-bar metamorphic single-loop mechanism consisting of 8 revolute joints. Higher order analyses are employed to determine the local mobility of two special bifurcated positions of this 8-bar linkage. All the sub-motion branches and their connections of these two singular positions are revealed. Then a biomimetic quadruped robot is built by adopting the reconfigurable 8-bar linkage as its trunk. Based on the configuration spaces of this metamorphic mechanism, two strategies are introduced to control the reconfiguration between different modes.
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