Moving mechanism of the throw-able multi-locomotion stated global robot

Abstract

Combining with the advantages of good protection of global robot,of self equilibrium and easy control of two wheeled robot,of strong obstacle surmounting ability of jumping robot,a throw-able robot that possesses three kinds of basic modalities of global,two wheeled and jumping robots was constructed.While in the global state the two hemispheres of the robot will closed into a sphere,which could be conveniently threw and carried by mother vehicle and could make all directional movements on flat ground.While falling across the complicated terrain environments of dene,sloping field etc.,it would outspread to a two wheeled robot,the bouncing mechanism would open out as a third supporting point so as to strengthen the obstacle surmounting and slope climbing abilities.While barge up against obstacles or falling into straits,it could make jumping advance.The structure and principle of this robot were introduced in this paper and the mechanical structural design and prototype development and manufacturing were carried out.The Field experiment showed that this robot has the characteristics of putting in convenience and moving agility,and the feasibility of this designing scheme was verified.