Motion Planning of Kinematically Redundant 12-tetrahedral Rolling Robot | Zendy

Xingbo Wang | Zendy; Xiaotao Wang | Zendy; Zhongpeng Zhang | Zendy; Ying Zhao | Zendy

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Motion Planning of Kinematically Redundant 12-tetrahedral Rolling Robot

Author(s) -

Xingbo Wang,

Xiaotao Wang,

Zhongpeng Zhang,

Ying Zhao

Publication year - 2016

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/62178

Subject(s) - inverse kinematics , motion planning , computer science , robot , kinematics , configuration space , jerk , motion (physics) , tetrahedron , truss , gait , robot kinematics , simulation , computer vision , artificial intelligence , geometry , mobile robot , mathematics , engineering , physics , classical mechanics , structural engineering , acceleration , physiology , quantum mechanics , biology

The 12-tetrahedral robot is an addressable reconfigurable technology (ART)-based variable geometry truss mechanism with 26 extensible struts and nine nodes arranged in a tetrahedral mesh. The robot has the capability of configuring its shape to adapt to environmental requirements, which makes it suitable for space exploration. This paper considers the motion planning problem for the robot in terms of gait planning and trajectory planning. First, a gait planning method is developed that limits the forward falling angles to only 25 degrees. Then, according to the given gait, the jerk-bounded method and inverse kinematics are utilized to calculate the trajectories of the nodes and the struts, respectively. A robot system model was built in ADAMS and simulations were conducted to demonstrate the feasibility of the motion planning method

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