Design Method And Its Implementation Of One Kind Of Multi-mode Mobile Mechanism

In this paper,single-loop kinematic chains are used as the minimum unit to construct a class of multi-mode mobile mechanism that integrates multiple motion modes with folding,scaling,and deformation capabilities.These mechanisms have strong deformation capabilities and various motion modes,which can better adapt complex road environment and will have wide application prospects.At present,the design of multi-mode mobile mechanisms mainly depends on the inspiration of designers.For the multi-mode mobile parallel mechanism with different configurations,whether there is a general comprehensive design method of multi-mode mobile parallel mechanisms between their configurations.This method can not only construct a new type of multi-mode mobile mechanism,but also explain the existing construction ideas of multi-mode mobile mechanisms.This is a question that needs to be studied.The main contents of this paper include:(1)According to screw theory,single-loop kinematic chain construction theory,and spatial geometric relations,a set of multi-mode mobile mechanism type synthesis method based on single-loop kinematic chains is formed.Based on this proposed theory,planar 4R single-loop kinematic chains can be used as the unit to derive the spatial geometric relations between planar 4R single-loop kinematic chains,and then a new type of multi-mode mobile mechanism can be constructed by using the planar 4R single-loop kinematic chains as the mobile body and mobile branches.(2)Under the above-mentioned theoretical method,single-loop kinematic chains are used as mobile branches to construct a new planar multi-mode mobile mechanism.The mechanism has the ability to walk,deform,and roll.Each mode can be switched between each other.At the same time,its motion mode can be changed according to different terrains,which improves the motion adaptability to unstructured terrain.The singularity of the mechanism in each motion mode is found out by using screw theory,and the feasibility of the mechanism in each motion mode is analyzed.The ADAMS software is used to simulate the movement of the mechanism in multi-feature terrain.The results show that this mechanism has obvious advantages in gait,stability,and multi-environment adaptability.Finally,the prototype tests also verify the feasibility of each motion mode.(3)Furthermore,single-loop kinematic chains are used as mobile branches to construct a new spatial multi-mode mobile mechanism.The mechanism has both the characteristics of the parallel mechanism operation mode and the ability to move in various motion modes.The mechanism integrates two-way hexagonal rolling,two-way quadrilateral rolling,folding deformation,and two-way walking mode,and these motion modes can be switched between each other.To sum up,this paper systematically carry out research work on multi-mode mobile mechanism type synthesis theory,multi-mode mobile mechanism construction and analysis,etc.,a series of new multi-mode mobile mechanisms have been constructed,forming a set of multi-mode mobile mechanism type synthesis method based on single-loop kinematic chains,which provides more motion modes for multi-mode mobile mechanisms,increases the mechanisms' adaptability to different ground environments,and also provides ideas for the design of other types of multi-mode mobile mechanisms.