パラレルリンクロボットを応用した歩行型モジュラーロボット

抄録

In order to transfer objects and people stably on rough terrain, we propose a novel modular robot system. The system is composed of multiple units equipped with a micro computer, and its structure is designed based on DELTA mechanism, which provides the system with the function of legged locomotion. Length of links and driving torque of servo motors are determined by solving inverse kinematics and Jacobian matrix. Connecting units and communicating data of ID and traveling direction with them enables the whole system to travel in the same direction. Connecting the units and communicating data among them enable the whole system to travel as a united single body in the same direction with according velocity. To evaluate the functionality of the system, we conducted walking experiments in two system configurations: hexagonal and serial-chain forms.