Type Synthesis of Multi-mode Mobile Parallel Mechanism Based on Planar 4R Single-loop Kinematic Chains

Liu, Xiangyu; Ni, Cong

doi:10.1145/3351917.3351920

Cited by 1 publication

(1 citation statement)

References 7 publications

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“…Inspired by the concept of parallel mechanism, a series of polyhedron mobile mechanisms with multi-chain were proposed and omni-directional rolling and folding function were realized (Liu et al , 2012; Tian and Yao, 2015; Li et al , 2017; Liu et al , 2019a; Liu et al , 2019b). Furthermore, the integration of multiple mobile modes was realized based on variable topology (Tian et al , 2017; Li et al , 2018).…”

Section: Introductionmentioning

confidence: 99%

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

Wang

et al. 2021

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Purpose The purpose of this paper is to introduce a tetrahedral mobile robot with only revolute joints (TMRR). By using rotation actuators, the mechanism of the robot gains favorable working space and eliminates the engineering difficulties caused by the multilevel extension compared with liner actuators. Furthermore, the rolling locomotion is improved to reduce displacement error based on dynamics analysis. Design/methodology/approach The main body of deforming mechanism with a tetrahedral exterior shape is composed of four vertexes and six RRR chains. The mobile robot can achieve the rolling locomotion and reach any position on the ground by orderly driving the rotation actuators. The global kinematics of the mobile modes are analyzed. Dynamics analysis of the robot falling process is carried out during the rolling locomotion, and the rolling locomotion is improved by reducing the collision impulse along with the moving direction. Findings Based on global kinematics analysis of TMRR, the robot can realize the continuous mobility based on rolling gait planning. The main cause of robot displacement error and the corresponding improvement locomotion are gained through dynamic analysis. The results of the theoretical analysis are verified by experiments on a physical prototype. Originality/value The work introduced in this paper is a novel exploration of applying the mechanism with only revolute joints to the field of tetrahedral rolling robots. It is also an attempt to use the improved rolling locomotion making this kind of mobile robot more practical. Meanwhile, the reasonable engineering structure of the robot provides feasibility for load carrying.

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Section: Introductionmentioning

confidence: 99%

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

Wang

et al. 2021

View full text Add to dashboard Cite

show abstract

Type Synthesis of Multi-mode Mobile Parallel Mechanism Based on Planar 4R Single-loop Kinematic Chains

Cited by 1 publication

References 7 publications

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

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