用于变形机器人的可展结构设计.pdfVIP

Abstract This thesis is devoted to the design of a deployable mechanism used for the transformable robot which can change its volume to a great extent during walking. The proposed design is based on a special single-DOF overconstrained linkage which has high stiffness and can be easily controlled. However, a general spatial single-loop overconstrained linkage cannot meet the need of large volume change for the transformable robots. Referring to the alternative form of Benn