Design and experimental study of a new thrown robot based on flexible structure

作者：Wang, Wei; Wu, Shilin^*; Zhu, Peihua; Li, Xuepeng

来源：Industrial Robot-The International Journal of Robotics Research and Application, 2015, 42(5): 441-449.

DOI：10.1108/IR-03-2015-0049

• Mobile robots
• Robot design
• Field robotics
• Thrown robot
• Anti-impact
• Flexible structure

Purpose - The paper aims to present a new thought for design of a thrown robot based on flexible structures. The aim of the design is to reduce the weight and improve the anti-impact capability for mini thrown robot. @@@ Design/methodology/approach - A mass-spring wheeled robot model is proposed and an impact analysis is given in this paper. Some principia were derived for configuration design and material choice to get a light and robust thrown reconnaissance robot. Based on the theoretical analysis, flexible elements like flexure hinges or rubber shell were utilized to build two generation of robots that both showed excellent performances of anti-impact ability. @@@ Findings - A second-generation thrown robot (2,050 g) was developed, which could survive dropping from the height of 6 m more than 10 times without apparent damage. @@@ Originality/value - The method based on the flexible structure provides the thrown robot with high survivability from impact, as well as light weight. It can be used in the design of the mini thrown reconnaissance robot at low cost.

• 出版日期2015
• 单位北京航空航天大学