Abstract
To improve locomotion and operation integration,this paper presents an integrated leg-arm quadruped robot(ILQR)that has a reconfigurable joint.First,the reconfigurable joint is designed and assembled at the end of the leg-arm chain.When the robot performs a task,reconfigurable configuration and mode switching can be achieved using this joint.In contrast from traditional quadruped robots,this robot can stack in a designated area to optimize the occupied volume in a nonworking state.Kinematics modeling and dynamics modeling are established to evalu-ate the mechanical properties for multiple modes.All working modes of the robot are classified,which can be defined as deployable mode,locomotion mode and operation mode.Based on the stability margin and mechanical modeling,switching analysis and evaluation between each mode is carried out.Finally,the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.
基金项目
National Natural Science Foundation of China(52375003)
National Natural Science Foundation of China(52205006)
National Key R&D Program of China(2019YFB1309600)
NETL
NSTL
万方数据