Rolling 4R linkages

Liu, Chang-Huan; Yao, Yan‐an; Li, Ruiming; Tian, Yunfeng; Zhang, Nan; Ji, Yuanyuan; Kong, Fan-Zheng

doi:10.1016/j.mechmachtheory.2011.10.005

Cited by 27 publications

(9 citation statements)

References 10 publications

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“…Sastra et al 42 presented a fast and efficient rolling gait based on a modular robot with a closed-loop shape. Liu et al 43 and Yamawaki et al 44 used planar 4R and 5R closed-loops to design rolling mobile robots, respectively. Each of these rolling robots changed the shape of its loop (and therefore the position of its centroid) to allow it to roll on the ground by alternately changing its supporting edge (foot).…”

Section: Rolling Motionmentioning

confidence: 99%

Design and locomotion analysis of a novel deformable mobile robot with worm-like, self-crossing and rolling motion

et al. 2014

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SUMMARYThis paper presents a novel deformable mobile robot with five degrees of freedom (DOFs). The robot contains two equivalent expandable triangular platforms connected by three equivalent chains. Each platform is a regular triangle with a single DOF. Each chain consists of two links and three joints (one spherical joint at the middle of a chain, and one revolute joint at each end of the chain). Through kinematic and locomotion mode analysis, the robot exhibits three motion modes: worm-like, self-crossing, and rolling modes. The worm-like and self-crossing modes can be used for narrow passages (e.g., pipelines, holes, and caves). The rolling mode has three different directions at the initial state. By switching between these, the robot can operate on rough ground. To verify the locomotion modes and functionality of the robot, the results of a series of experiments performed on a manufactured prototype are reported.

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Section: Rolling Motionmentioning

confidence: 99%

Design and locomotion analysis of a novel deformable mobile robot with worm-like, self-crossing and rolling motion

et al. 2014

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“…Define 21 , then solving Eq. (5), r P ,x and r P ,y can be expressed as r P ,x = a 1 r P ,z r P ,y = a 2 r P ,z .…”

Section: Position Analysismentioning

confidence: 99%

“…21 The rolling function is realized by changing its shape, but the rolling step length is fixed, and the rolling direction cannot be changed freely. 21 The rolling function is realized by changing its shape, but the rolling step length is fixed, and the rolling direction cannot be changed freely.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, we have proposed a class of 4R rolling mechanisms with single DOF. 21 The rolling function is realized by changing its shape, but the rolling step length is fixed, and the rolling direction cannot be changed freely. To drive the mechanism to any position on the ground, we used an 8U parallel mechanism to construct a 2-DOF rolling mechanism.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic rolling analysis of triangular-bipyramid robot

Tian

Yao

2014

Robotica

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In this paper a rolling robot resembling the shape of a triangular-bipyramid is proposed. The robot has three degrees of freedom and is formed by connecting two tripod mechanisms with three spherical joints. By kinematic analysis, the robot can be viewed as a planar four-bar linkage. Further, its dynamic rolling ability is discussed by Zero Moment Point (ZMP) analysis. We show that the robot has the capability to roll, adjust its step length, and switch rolling directions. These functions are verified by a series of simulations with a CAD (computer-aided design) model and experiments with a prototype.

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“…In refs. [23][24][25], single-mode mobile robots, such as a planar 4R linkage, which rolls along a straight line, a spherical 4R linkage, which rolls along a polygon, 4U biped robot and 6U rolling robots were constructed. Meanwhile, some parallel robots, such as Stewart platform, Delta mechanism and 3-RPC parallel mechanism were used for mobile robots.…”

Section: Introductionmentioning

confidence: 99%

A reconfigurable tri-prism mobile robot with eight modes

Wang¹,

Yao

Kong³

2018

Robotica

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SUMMARYA novel reconfigurable tri-prism mobile robot with eight modes is proposed. The robot is composed of two feet connected by three U-R-U (universal-revolute-universal) limbs. The robot incorporates the kinematic properties of sphere robots, squirming robots, tracked robots, wheeled robots and biped robots. In addition, the somersaulting and turning modes are also explored. After the description of the robot, the DOF (degree-of-freedom) is calculated based on screw theory. The 3D model and simulations indicate that the robot can cross several typical obstacles and can also be folded via two approaches. Finally, the prototype experiments are presented to verify the feasibility of the proposed mobile robot in different motion mode.

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Rolling 4R linkages

Cited by 27 publications

References 10 publications

Design and locomotion analysis of a novel deformable mobile robot with worm-like, self-crossing and rolling motion

Design and locomotion analysis of a novel deformable mobile robot with worm-like, self-crossing and rolling motion

Dynamic rolling analysis of triangular-bipyramid robot

A reconfigurable tri-prism mobile robot with eight modes

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