J4 ›› 2016, Vol. 13 ›› Issue (1): 48-58.doi: 10.1016/S1672-6529(14)60159-1
Two Bioinspired Mobile Manipulators with Rolling Locomotion
Saber Mahboubi Heydarabad1, Mir Masoud Seyyed Fakhrabadi2, Steve Davis1, Samia Nefti-Meziani1
- 1. School of Computing, Science &|Engineering, University of Salford Manchester, The Crescent M5 4WT, UK
2. School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
Two Bioinspired Mobile Manipulators with Rolling Locomotion
Saber Mahboubi Heydarabad1, Mir Masoud Seyyed Fakhrabadi2, Steve Davis1, Samia Nefti-Meziani1
- 1. School of Computing, Science &|Engineering, University of Salford Manchester, The Crescent M5 4WT, UK
2. School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
摘要：
This paper deals with two novel structures for mobile robots. The original inspiration of the robots comes from a sala-mander and a specific kind of spiders. Our robots have some especial moving capabilities causing to increase the robot ma-neuverability. Indeed, the capability of rolling motion is added to ordinary quadruped robots. This capability causes increment in maneuvering of the robots. Manipulators can be embedded into the robots to add the ability of transferring materials into the shell and conducting some tasks such as repairing. In this paper, after analysis of motion principles of the rolling robots, their dynamic equations are derived. Different simulations of two bioinspired mobile robots are presented in order to scrutinize various capabilities of the proposed designs. Walking capabilities of the robots and their advantages are discussed in detail. The comprehensive simulation results of the robots in various motion modes are presented. Finally the first prototype is introduced to verify the motion mechanisms.