Motion analysis and simulation of a 12-Tetrahedral Walker Robot

Chun Li, Hong Nie, Jinbao Chen

COMPUTER MODELLING & NEW TECHNOLOGIES 2014 18(5) 263-268

State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautic Nanjing, 210016, China

A novel robot mechanism-tetrahedral rolling robot is introduced in the paper. The robot comprises of 26 extension struts and 9 nodes. When the COG of tetrahedron exceeds the stability region, the robot will roll. The structure of the 12-TET robot is described. Designing method of the robot is given, and it is proved correct and feasible through simulation. Kinematic models in different motion phases are analysed in the paper, and the rolling critical condition is formulated. The effectiveness of the method is testified through simulation. The study of the paper will provide important reference for the dynamic analysis, optimization design and control of the tetrahedral rolling robot.