Research On Type And Modular Design Of Mobile Linkage Mechanism

Based on the research of the mechanisms and robotics' theory and technology, the paper analyses the characteristics of the kinematics chain, expand the application fields of the traditional linkage mechanism, combining the functional requirements of the modern mobile robot, through the theoretical research for plane and spatial linkage, our thought that plane and spatial linkages are designed to mobile robot is to dedicated to work out some new mechanisms,and analyze its moving function.Firstly, A method how to search the plane kinematic chains which have rolling function was proposed based on the study of the characteristics of the some kind of mobile mechanisms, more than twenty types of plane kinematics chain are proposed according to this method. And three novel types of mobile mechanisms are proposed, the mobile principle and characteristics are analyzed in order to improve the mobile capability, and simulation analysis verified its rolling movement by the simulation software ADAMS.Secondly, A new way how to structure spatial linkage mechanisms was proposed, namely, Orthogonal combination by the plane kinematics chain, three novel types of spatial mechanisms are proposed based on this way. Another method how to structure spatial kinematics chain was proposed, namely,3d combination by the plane kinematics chain, four novel types of spatial linkage mechanisms are also proposed based on this method, a method was proposed to expand this kind of spatial mechanisms, and the summary was made at last.Thirdly, the concept of inner drive mechanism was proposed for the first time, three novel types of four-bar drive mechanisms are proposed according to the characteristics of three kinematic chains in the paper, inclouding two double rocker mechanism and a crank and rocker mechanism. Meanwhile, a spatial 8U drive mobile linkage mechanism was designed with the method of orthogonal combination.Finally, the modularity of the plane and spatial mechanisms was designed based on the research of structural features of linkages in the plane and spatial mechanisms, and the modularity of the mobile mechanisms was realized by put the driver modules in. some mobile mechanisms which are proposed in the paper are assembled by the modules, and their feasibleness of the concepts is proved. A new method and related theory which to design innovative mobile mechanisms are proposed by the study in this paper, meanwhile, some perfect instances and technical reference are given to realize the modularity of the plane and spatial mechanisms.