A steerable crawling schatz mechanism driven by one actuator????(Open Access)

作者：Yao, Shun; Liu, Chao; Yao, Yanan^*

来源：Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2016, 52(13): 31-37.

DOI：10.3901/JME.2016.13.031

• Closed chain mechanism
• Controlling methods
• Controlling strategies
• Design scheme
• Dynamic softwares
• Mobile mechanism
• Moving direction
• Structural characteristics

Based on the classical Schatz mechanism, a kind of new-concept mobile mechanism driven by one actuator is proposed, which is capable of crawling and its moving direction is under full control. Firstly, the design scheme of the mobile mechanism is presented considering the structural characteristics of the Schatz mechanism and the function of ground moving, and the shape of rods and the placement of the actuator are determined. Secondly, the mobile principles are analyzed. Thirdly, the simulation experiments are carried on with dynamic softwares. Fourthly, the route plan is made which is based on the mobile rules discovered in the simulation experiments, and a method of controlling the moving direction by controlling the actuator's speed is figured out. With the method, the controlling strategy is studied, which enable the mechanism to move in the ground. Finally, a prototype for experiments is manufactured and the mobile rules are discovered in the experiments, with which the controlling method and strategy are verified, and therefore the analysis and research are testified by the experiment results.

• 出版日期2016
• 单位上海交通大学