Leg Structure Design and Degree of Freedom Analysis of Underwater Reconfigurable Robot
In view of the diversified functional requirements of underwater robots in water conservancy projects,this paper takes underwater reconfigurable robots as the research object,and studies the reconfigurable leg structure to make the robot have a variety of mobile motion modes,which is expected to achieve multi-purpose.In this paper,three types of U*PU branched chains are reconstructed by locking a rotation in the equivalent spherical pair in the UPS branched chain,and the constraint characteristics of each type of branched chain are analyzed.It is concluded that the type Ⅰ U*PU branched chain changes the nature of the degree of freedom,the type Ⅱ changes the direction of the degree of freedom,and the type Ⅲ is a constant degree of freedom branched chain.Based on the 4-U*PU parallel mechanism with class Ⅲ U*PU branches,the leg structure of the underwater reconfigurable robot is designed,so that the leg has two motion modes of 2T2R and 1R2T.The screw theory is used to study the degree of freedom in the transformation process of each motion mode of the leg structure,and the reconfigurability of the robot is analyzed to meet the twomotion requirements of crawling and creeping.
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