This paper presents a novel 6-URS self-reconfigurable all-dimensional walking robot. The model of the 6-URS self-reconfigurable walking robot is established, then its reconfiguration modes are proposed. Based on the screw theory, the degrees of freedom (DOF) of this robot before and after reconfiguration are analysed separately to verify the feasibility of self-reconfiguration. This robot can achieve self-reconfigurable function with the design of self-reconfigurable limbs. Moreover, the trajectory planning and simulation of three kinds of gaits are performed, including walking horizontally, turning and climbing. The above analysis shows that the 6-URS self-reconfigurable all-dimensional robot satisfies the walking requirements and has the reconfigurable ability in unstrcutured environment.

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