Simulation and analysis of a TET-walker robot motion

摘要

Tetrahedral walker robots are a group of reconfigurable robots which makes them adaptable for the full spectrum of activities in places that wheeled robots are inapplicable. In this paper, two different gaits for a single-TETwalker are introduced and the motion of the robot is then simulated. Modeling of the robot and simulation of its tumbling and walking gaits are performed within the ADAMS software. While the prismatic joints of the struts are gradually manipulated to make a walking gait, the motion in the tumbling gait is managed by changing the mass center and causing it to topple. Simulation results are used to improve the characteristics of the robot and to compare the performance of its motion in the gaits presented.