The Research Of A Spatial Rolling-walk Mobile Mechanism Based On Four-bar Mechanism

With the development of modem science and technology continues, the various forms of the mobile mechanisms have become the hotspot research of the developed countries. However, most of the traditional legged mobile-robot and the new type, for example, the rolling robot and snake robot, have some problem in complicated control and complicated structures and therefore this program have cumbered the processing and promote of these mechanisms.This paper is dedicated to research the smart mobile platform, aimed at innovation on the body, from the target that to simplified the structure and their control system, incorporating robotics, mobile vehicle engineering and mechanism to breakthrough the traditional limitations of the structural design of mobile machine. Through the theoretical research for four-bar structure, a new concept of the closed-chain mobile structure is designed: the traditional fixed four-bar bodies which out of the rack with the ground is remodel to a mobile body. And through in-depth study, it is expanded into a spatial rolling-walk machine with six-bar.In order to prove the feasibility of this mechanism, the theoretical calculations for this structure from kinematics and the dynamics is done. And the mechanism's virtual prototype is made .The virtual prototypes is tested and simulated by ADAMS for the kinematics in multifarious condition. This new designing conception can be proved by this result, and this mobile mechanism has high feasibility in principle.At the same time, the gait planning of this platform is analyzed by this theory, and the drive circuit in accordance with the characteristics of the platform is designed in this paper. The prototype is produced in order to further prove the correctness of the virtual prototype, and this will take a foundation to the further in-depth study.This paper will be providing relevant examples and theoretical basis for the development of innovative mobile mechanisms.