Design and Performance Analysis of a Throwable Variable Structure Robot

For quickly entering the complex ground environment for rescue, monitoring, and other actions, a throwable variable structure spherical mobile robot is developed for entering the target area by throwing. The robot consists of two crossed U-shaped modules and a connection mechanism composed of springs and telescopic tubes. The U-shaped modules compose a complete sphere to endure high impact from the ground when landing. After landing, the two U-shaped modules can be unlocked and separated into a flexible four-wheeled mobile structure to rover on the ground. The parameters and elastic coefficient of the U-frame are optimized based on the energy absorption model of the robot. The effectiveness of the energy absorption of the robot is experimented to demonstrate the excellent impact resistance of the robot.