Structure Design and Analysis of Metamorphic Mobile Robot Based on Screw Theory

In this article, a precise and high-efficiency of mobile robot for fulfilling people's demand is proposed, which is combined with the structural design of the metamorphic mechanism. In order to construct a reasonable metamorphic mechanism, an analysis method based on screw theory is adopted by combinations of the spatial structure transformation of the metamorphic mechanism with the motion characteristics. The kinematics analysis for constructing the mechanism screw matrix of the mechanism is developed. The homogeneous linear equations of the motion screw are obtained by the motion screw matrix of different configurations of the mechanism. The basic solution system is solved to determine the reciprocal screw system. The spatial structure and degree of freedom of the metamorphic mechanism are also explored. The results of the characteristic of mechanism, are consistent with the solution of the formula of the degree of freedom of the kutzbach-Crublerz. Finally, the stability analysis of the configuration state transformation is performed.