Purpose

This study aims to present a type of metamorphic mechanism-based quadruped crawling robot. The trunk design of the robot has a metamorphic mechanism, which endows it with excellent crawling capability and adaptability in challenging environments.

Design/methodology/approach

The robot consists of a metamorphic trunk and four series-connected three-joint legs. First, the walking and steering strategy is planned through the stability and mechanics analysis. Then, the walking and steering performance is examined using virtual prototype technology, as well as the efficacy of the walking and turning strategy.

Findings

The metamorphic quadruped crawling robot has wider application due to its variable trunk configuration and excellent leg motion space. The robot can move in two modes (constant trunk and trunk configuration transformation, respectively, while walking and rotating), which exhibits outstanding stability and adaptability in the examination and verification of prototypes.

Originality/value

The design can enhance the capacity of the quadruped crawling robot to move across a complex environment. The virtual prototype technology verifies that the proposed walking and steering strategy has good maneuverability and stability, which considerably expands the application opportunity in the fields of complicated scene identification and investigation.

中文翻译：

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基于变质结构的四足爬行机器人步态及仿真分析

目的

本研究旨在提出一种基于变形机制的四足爬行机器人。该机器人的躯干设计具有变形机制，赋予其出色的爬行能力和恶劣环境的适应能力。

设计/方法论/途径

该机器人由一个变形的躯干和四个串联的三关节腿组成。首先，通过稳定性和力学分析规划行走和转向策略。然后，使用虚拟原型技术检查行走和转向性能以及行走和转向策略的有效性。

发现

变形四足爬行机器人因其可变的躯干配置和优异的腿部运动空间而拥有更广泛的应用。该机器人可以实现两种模式的运动（分别是躯干恒定和躯干构型变换，同时行走和旋转），在样机检验和验证中表现出出色的稳定性和适应性。

原创性/价值

该设计可以增强四足爬行机器人在复杂环境中移动的能力。虚拟样机技术验证了所提出的行走和转向策略具有良好的机动性和稳定性，大大拓展了在复杂场景识别和调查领域的应用机会。