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Design and development of a SLPM-based deployable robot

Published online by Cambridge University Press:  28 April 2023

Ze Zhang ,
Zheming Zhuang Open the ORCID record for Zheming Zhuang [Opens in a new window] ,
Yuntao Guan  and
Jiansheng Dai
Ze Zhang
Affiliation:
Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, International Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China Shanghai Institute of Optics and Fine Mechanics, Chinese Academy of Sciences, Beijing, China
Zheming Zhuang*
Affiliation:
Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, International Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China
Yuntao Guan
Affiliation:
Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, International Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China
Jiansheng Dai
Affiliation:
Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, International Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China Institute for Robotics, Southern University of Science and Technology, Shenzhen, China Centre for Robotics Research, King’s College London, London WC2R 2LS, UK
*
Corresponding author: Zheming Zhuang; Email: zhuangzheming@tju.edu.cn
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Abstract

With the progress of industry, people are facing more and more complicated tasks, which cannot be completed by conventional rigid robot. For this, a deployable robot based on spherical linkage parallel mechanism was proposed to satisfy relevant requirements for the degrees of freedom in this study. Based on the design of robot model and its control box, a mathematical model for the robot was established, and the relationship between motion space and drive space was deduced accordingly. Subsequently, a control system consisting of the upper and lower computers was introduced. Two control modes, that is, Joystick control and remote control, were developed. The upper computer control interface for the robot was completed by MATLAB construction. At last, the two control modes as well as autonomous detection were demonstrated by motion test. This achievement will further advance the applications of deployable robot in job aid and intelligent exploration.

Keywords

deployable robotSLPMmodel designworkplacecontrol system
Type
Research Article
Information
Robotica , Volume 41 , Issue 8 , August 2023 , pp. 2531 - 2551
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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