An Omnidirectional Rolling 8U Parallel Mechanism

被引：20

作者：

Liu, Chang-huan ^{[1
]}

Li, Rui-ming ^{[1
]}

Yao, Yan-an ^{[1
]}

机构：

[1] Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2012年 / 4卷 / 03期

基金：

中国国家自然科学基金;

关键词：

8U parallel mechanism; reconfiguration; screw theory; rolling motion; WALKING;

D O I：

10.1115/1.4006657

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A novel 8U (universal joint) parallel mechanism, being able to do omnidirectional rolling motion is proposed in this paper. This mobile mechanism owns the priority of simple structure and rolling easily on terrains with loose soil, dirt or sand with only a few actuations. Its spatial closed compact structure is described firstly. In addition, the omnidirectional locomotion accompanied with DOF (degree of freedom) alternation between one and two is revealed by mobility analysis. After that, the feasibility of rolling motion is verified theoretically by stability analysis. Finally, the omnidirectinoal rolling motion is testified both by virtual and prototype experiments. [DOI: 10.1115/1.4006657]

引用

页数：6

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