多重变胞机器人构态变化仿真数据集

多重变胞机器人构态变化仿真数据集是由北京航空航天大学根据多重变胞机器人构态变化，对机器人进行仿真生成的仿真视频数据，在课题实施期间获得。数据集中包含一个视频文件，该视频文件内容主要包括基于四支链并联机构的多重变胞机器人构型，根据机构运动学分析与构态演变规律，使用Adams软件环境进行变胞机器人模式切换的仿真，并标注了各个模式切换的自由度数目。其中节肢四足模式自由度为13，四轮模式自由度为7，串并转换模式自由度为14，足式爬坡模式自由度为13。数据集为视频文件+仿真数据库文件+仿真模型文件，视频格式为.AVI，数据量为48.8MB，仿真数据库文件格式为.bin，数据量为125MB，仿真模型文件为.x_t，数据量为86.2MB。

This multi-mode metamorphic robot configuration transformation simulation dataset was developed during the execution of a research project by Beihang University. It consists of simulated video data generated by performing simulations of the configuration transformations of the target multi-mode metamorphic robot. The dataset includes one video file, which primarily demonstrates the configuration of the multi-mode metamorphic robot based on a four-branch parallel mechanism. Simulations of mode switching for the metamorphic robot were conducted using the Adams software environment, based on the kinematic analysis of the mechanism and the configuration evolution rules, with the degrees of freedom (DoF) for each mode switching labeled. Specifically, the DoF of the articulated quadruped mode is 13, that of the four-wheel mode is 7, that of the serial-parallel conversion mode is 14, and that of the legged climbing mode is 13. The dataset is composed of three parts: a video file, a simulation database file, and a simulation model file. The video file is in .AVI format with a size of 48.8 MB. The simulation database file is in .bin format with a size of 125 MB. The simulation model file is in .x_t format with a size of 86.2 MB.