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Erschienen in:
2015 | OriginalPaper | Buchkapitel
Self-crossing Motion Analysis of a Novel Inpipe Parallel Robot with Two Foldable Platforms
verfasst von : Wan Ding, Yan-an Yao
Erschienen in: Mechanisms, Transmissions and Applications
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Abstract
A novel pipeline robot that can realize both inchworm gait and a new concept of Self-crossing motion (SCM) gait is proposed. The robot is composed of two identical spatial foldable platforms and three identical RPR (revolute-prismatic-revolute) kinematic chains. The foldable platform that is essentially an improved plane-symmetric Bricard linkage with special twist angle can achieve a continuous turning inside out. By taking advantage of the locomotion cooperation among two platforms and three kinematic chains, the robot possesses large deformation capabilities (adapt to different pipe size), different locomotion modes (SCM, inchworm), and foldable and expandable capabilities (fold into flat or prism shape). Two different SCM strategies are described respectively. As displayed in dynamic simulation with integrated locomotion gaits, the SCM movement performs a larger step length and fast speed than general inchworm locomotion.