Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics  

作　　者：Fuqun Zhao Yifan Wu Xinhua Yang Xilun Ding Kun Xu Sheng Guo Xiaodong Jin 

机构地区：[1]School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China [2]School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China

出　　处：《Chinese Journal of Mechanical Engineering》2024年第3期41-61,共21页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China (Grant Nos. 52375003, 52205006);National Key R&D Program of China (Grant No. 2019YFB1309600)。

摘　　要：To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot(ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at the end of the legarm chain. When the robot performs a task, reconfigurable configuration and mode switching can be achieved using this joint. In contrast from traditional quadruped robots, this robot can stack in a designated area to optimize the occupied volume in a nonworking state. Kinematics modeling and dynamics modeling are established to evaluate the mechanical properties for multiple modes. All working modes of the robot are classified, which can be defined as deployable mode, locomotion mode and operation mode. Based on the stability margin and mechanical modeling, switching analysis and evaluation between each mode is carried out. Finally, the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.

关 键 词：Quadruped robot Multimode design Mode switching Locomotion Operation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]