Purpose The purpose of this paper is to propose an agile assistant robot to be used as a mobile partner with two rotational motions and one translational motion. This robot possesses the rolling function and three operating abilities to assistant human beings in the industrial environment. Design/methodology/approach The main body of the robot is a typical 4-RSR (where R denotes a revolute joint and S denotes a spherical joint) parallel mechanism. The mechanism can reach any position on the ground by two rolling modes (the equivalent Watt linkage rolling mode and the equivalent 6R linkage rolling mode), and the robot can work as a spotlight or a worktable in operating modes at the target location. The mobility, rolling modes, operating modes and kinematics are analyzed. Findings Based on the results of kinematics of this assistant robot, the upper platform of the 4-RSR rolling mechanism has two rotational motions and one translational motion which can be used in the industry. The proposed concept is verified by experiments on a physical prototype. Practical implications This paper also discusses the application to industrial cases where cooperation between workers and robots is required. Originality/value The work presented in this paper is a novel exploration to apply parallel mechanisms to the field of assistant rolling robots. It is also a new attempt to use the rolling mechanism in the field of mobile operating robots for industry tasks.
Purpose The purpose of this paper is to propose an overall deformation rolling mechanism based on double four-link mechanism. The double quadrilateral mobile mechanism (DQMM) has two switchable working modes which can be used to traverse different terrains or climb over obstacles. Design/methodology/approach The main body of the DQMM is composed of a double four-link mechanism which sharing a public link and two symmetrical steering platforms which placed at both ends of the four-link mechanism. The steering platforms give the DQMM not only steering ability but also reconnaissance ability which can be achieved by carrying sensors such as cameras on steering platforms. By controlling the deformation of the DQMM, it can switch between two working modes (tracked rolling mode and obstacle-climbing mode) to achieve the functions of rolling and obstacle-climbing. Dynamic simulation model was established to verify the feasibility. Findings Based on the kinematics analysis and simulation results of the DQMM, its moving function is realized by the tracked rolling mode, and the obstacle-climbing mode is used to climb over obstacles in structured terrains such as continuous stairs. The feasibility of the two working modes is verified on a physical prototype. Originality/value The work of this paper is a new exploration of applying “overall closed moving linkages mechanism” to the area of small mobile mechanisms. The adaptability of different terrains and the ability of obstacle-climbing are improved by the combination of multi-modes.
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