Development of a reconfigurable robot's turning method with line configuration

The shape-shifting robot is one of the kinds of the robot and it can change it's configuration according to the environment. A method is proposed to solve the shortcomings of the traditional method of robot's chain turning, which can shorten the time and radius of turning. The turning resistance moment can be also reduced. The mathematical model is built and the resistance torque and required force is computed By the analysis of experiment, the current of jaw motor does not exceed the limit load of the motor and it is more quick and smooth comparing to the link-turning. The validity and enforceability of the turning is proved by simulations and experiments.