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Design and Simulation of a Reconfigurable Multimode Mobile Robot with Folding Platform

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14274))

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Abstract

To enable mobile robots to have multiple motion modes during task execution and achieve significant reconstruction, deformation, and folding, a reconfigurable multimodal mobile robot with a folding platform was designed. The adjacency matrix is used to analyze the mode topology of quadrangle rolling, hexagon rolling, quadruped crawling and overall folding of the robot, and calculate the degrees of freedom of each mode. By combining the topology analysis results of each mode with the time-sharing control of the motor, the robot’s motion gait is generated. Finally, simulation experiments were conducted on different motion modes of a reconfigurable multimodal mobile robot with a folding platform using ADAMS software, verifying the correctness and feasibility of the robot design.

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Authors and Affiliations

  1. Shanghai University of Engineering Since, Shanghai, China

    Wenqian Li & Chunyan Zhang

Authors
  1. Wenqian Li
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  2. Chunyan Zhang
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Corresponding author

Correspondence to Chunyan Zhang .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Li, W., Zhang, C. (2023). Design and Simulation of a Reconfigurable Multimode Mobile Robot with Folding Platform. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_19

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  • DOI: https://doi.org/10.1007/978-981-99-6501-4_19

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6500-7

  • Online ISBN: 978-981-99-6501-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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