A Deployable Robot Based on the Bricard Linkage
A large variety of transformable robots were proposed in the past decades,which were mainly based on reconfigurable mechanisms.Meanwhile,deployable structures have been extensively applied to various fields,such as aerospace industry,civil engineering,and medical engineering.This paper presents a new method to integrate deployable structures to the design of transformable robots.A threefold-symmetric Bricard linkage is analyzed and used as the body structure of the robot.Gait control is then achieved by using the deploying and folding motion of the Bricard linkage.Experimental results show that the robot is capable of moving through limited space with single degree-of-freedom (DOF).
Threefold-symmetric bricard linkage Deployable robot Gait control
Hao Shang Dawei Wei Rongjie Kang Yan Chen
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;School of Mechanical Engineering, Tianjin University, 300072 Tianjin, China
国际会议
广州
英文
737-747
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）