Abstract
AbstractWith the progress of industry, people are facing more and more complicated tasks, which cannot be completed by conventional rigid robot. For this, a deployable robot based on spherical linkage parallel mechanism was proposed to satisfy relevant requirements for the degrees of freedom in this study. Based on the design of robot model and its control box, a mathematical model for the robot was established, and the relationship between motion space and drive space was deduced accordingly. Subsequently, a control system consisting of the upper and lower computers was introduced. Two control modes, that is, Joystick control and remote control, were developed. The upper computer control interface for the robot was completed by MATLAB construction. At last, the two control modes as well as autonomous detection were demonstrated by motion test. This achievement will further advance the applications of deployable robot in job aid and intelligent exploration.
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