文献类型：期刊文献

英文题名：A Novel Resilient Robot: Kinematic Analysis and Experimentation

作者：Wang, Fei[1];Qian, Zhiqin[1];Yan, Zhiguang[1];Yuan, Chenwang[3];Zhang, Wenjun[2,3]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China;[2]Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China;[3]Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada

年份：2020

卷号：8

起止页码：2885

外文期刊名：IEEE ACCESS

收录：;EI(收录号：20200107979421);WOS:【SCI-EXPANDED(收录号:WOS:000549758100007)】；

基金：This work was supported in part by the Shanghai Alliance Plan under Grant LM201622, and in part by the National Natural Science Foundation of China under Grant 51375166. The work of Wenjun Zhang was supported by the Discovery Grant from NSERC.

语种：英文

外文关键词：Resilient robot; D-H parameter method; topology; kinematic analysis

摘要：A resilient robot is a robot that can recover its function after the robot is partially damaged. In this paper, a study of an under-actuated resilient robot with closed loops and passive joints is presented. First, a prototype system was built, which serves as a study vehicle and is called R-Robot II for short. Second, the kinematics of the prototype robot R-Robot II, necessarily for the change of the robot structure in, was developed. Finally, the experimentation of the R-Robot II was carried out. The result shows that the desired resilient behavior of R-Robot II can be exhibited. The architecture of R-Robot II, along with the design of the mechanical modules and simulation, was reported elsewhere. This paper focuses on the physical realization of R-Robot II and on the experimentation.