A Miniaturized Crawler Design Based on an Origami-inspired and Geometrically Constrained Spherical Six-bar Linkage

作     者：Subin Chae Gwang-Pil Jung Subin Chae;Gwang-Pil Jung

作者机构：Department of Mechanical and Automotive EngineeringSeoul National University of Science and TechnologySeoul 01811South Korea 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2024年第21卷第1期

页      面：166-176页

核心收录：

学科分类：08[工学] 080202[工学-机械电子工程] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金：supported by the Research Program funded by the SeoulTech(Seoul National University of Science and Technology). 

主　　题：Bio-inspired robot Crawler:Crawling robot Direction change Spherical six-bar linkage 

摘      要：This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.The transmission is based on the constrained spherical six-bar linkage.The constrained spherical six-bar linkage passes only reciprocating motion out of the motor’s rotating motion,allowing the crawling legs to kick the ground and obtain propulsion.Steering is achieved by adjusting the geometric constraints of the spherical six-bar using a servomotor,allowing the direction of propulsion to be changed.As a result,the OriSCO can move along the ground at a speed of 2.15 body lengths/s,and the robot is 60 mm long.