کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10134016 1645605 2018 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Type synthesis of a 3-mixed-DOF protectable leg mechanism of a firefighting multi-legged robot based on GF set theory
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Type synthesis of a 3-mixed-DOF protectable leg mechanism of a firefighting multi-legged robot based on GF set theory
چکیده انگلیسی
The biggest hurdle to applying multi-legged robots to firefighting is the protection of the motors driving their legs and the motors' accessories. A series of protectable leg mechanisms (LMs) are thus proposed to remove this obstacle. First, the relationships between the motion characteristic of the rigid body and one point on this body are revealed based on generalized function (GF) set theory. The motion characteristics of the LM and ankle, which enable the robot body to achieve six-dimensional movement, are determined. Then, the structure layout of the protectable LM is designed, and two composition schemes for a protectable LM are proposed. In addition, 13 types of walking mechanisms (WMs) and their motion input points are presented. Considering the protective design of the motors and their accessories, two rules of type synthesis of the driving mechanism (DM) are set. Based on the motion characteristics of the motion input points of the WMs and foot end-points, seven rules are given to solve the characteristics of DM and connecting joint. 23 types of protectable DMs are synthesised. Finally, 23 types of 3-mixed-DOF protectable LMs are obtained, and examples of protectable LMs are presented. One of these LMs was successfully used in the design of a six-legged firefighting robot.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 130, December 2018, Pages 567-584
نویسندگان
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