Abstract
Abstract This paper thoroughly investigates the impact of the spring hanging point’s positioning and structural parameters on the multi-mode robot’s performance within the deformable transfer domain mechanism. The spring hanging point is a pivotal design element, significantly influencing the robot’s extensive deformation, efficiency, and adaptability. Operating as a cross-domain entity between land and air, the robot effectuates the transition between ground and aerial domains via the deformation trans-domain mechanism, executing a spectrum of intricate tasks. The precise placement of the spring hanging point and variations in structural parameters directly shape the robot’s performance metrics, encompassing deformation speed, stability, and energy utilization. Through elucidating fundamental principles, deliberating spring hanging point location choices, suggesting optimization methodologies, scrutinizing structural parameter impact on performance, and validating via dynamic modeling, this paper offers theoretical underpinnings for deforming domain mechanism design and enhancement, thereby elevating the robot’s overall efficacy.
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