For robots that having multiple sports modes can achieve significant structural changes

reduce space proportion and convenient to carry during task execution

this article proposes a large folding ratio mobile robot with foldable platform

which can undergo structural changes and has multiple motion modes. The robot has six modes: quadrilateral rolling mode

hexagonal rolling mode

quadruped crawling mode

fully folded mode I and fully folded mode II. First of all

by designing and analyzing the flexibility of robots in two dimensions

it can be concluded that the platform

branch chains

and overall structure of the robot all have a large folding ratio. Robots can facilitate institutional transportation and portability

and the degrees of freedom of various motion modes of the robot is analyzed through the theory of spinors. Secondly

through the analysis of the robot's drive

it can be seen that the conversion and movement of various modes of the robot can be achieved through time-sharing control between electrodes. In the end

the folding and unfolding motion of the robot is simulated using ADAMS software

verified the correctness and feasibility of the robot design. It has certain theoretical reference significance for the development and production of multimodal mobile robots that adapt to different environments and have large folding characteristics.