TY - GEN
T1 - Design and realization of a novel reconfigurable robot with serial and parallel mechanisms
AU - Wang, Wei
AU - Zhang, Houxiang
AU - Zong, Guanghua
AU - Zhang, Jianwei
PY - 2006
Y1 - 2006
N2 - Civil rescue and military reconnaissance are domains that involve a great amount of manpower; and it is quite dangerous and laborious in a hostile environment. This paper presents a novel field robot JL-I based on reconfiguration for these applications. The robotic system consists of 3 uniform modules; each module is an entire robotic system that can perform distributed activities. In order to meet the requirements of highly adaptive locomotion capabilities, the applied mechanical structure of the robot is employed to drive the serial and parallel mechanisms to form an active joint for changing shape in three dimensions. After summarizing the basic functions provided by this system, the mechanical structure, the control system and the locomotion capabilities of JL-I are introduced in detail. Finally the successful on-site tests confirm the principles described above and the robot's ability.
AB - Civil rescue and military reconnaissance are domains that involve a great amount of manpower; and it is quite dangerous and laborious in a hostile environment. This paper presents a novel field robot JL-I based on reconfiguration for these applications. The robotic system consists of 3 uniform modules; each module is an entire robotic system that can perform distributed activities. In order to meet the requirements of highly adaptive locomotion capabilities, the applied mechanical structure of the robot is employed to drive the serial and parallel mechanisms to form an active joint for changing shape in three dimensions. After summarizing the basic functions provided by this system, the mechanical structure, the control system and the locomotion capabilities of JL-I are introduced in detail. Finally the successful on-site tests confirm the principles described above and the robot's ability.
KW - Mechanical structure
KW - Reconfigurable robot
KW - Serial and parallel mechanism
UR - https://www.scopus.com/pages/publications/46249086246
U2 - 10.1109/ROBIO.2006.340291
DO - 10.1109/ROBIO.2006.340291
M3 - 会议稿件
AN - SCOPUS:46249086246
SN - 1424405718
SN - 9781424405718
T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
SP - 697
EP - 702
BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Y2 - 17 December 2006 through 20 December 2006
ER -