A Novel Hybrid 3-RPR Mechanism With Scalable Platforms for Self-Crossing Locomotion

Ruiming Li, Zhihuai Miao, Yan'An Yao*, Xianwen Kong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)


To investigate novel mobile robots is still of its fantasy. In this paper, we proposed a novel hybrid 3-RPR mechanism with scalable platforms for self-crossing locomotion. The hybrid mechanism is constructed by replacing the lower and upper rigid platforms of over-constrained 3-RPR parallel mechanism (PM) each with a scalable planar 3P mechanism. Through the contraction and expansion of the two scalable platforms, the mechanism can achieve a novel locomotion, which is called self-crossing locomotion (SCL). By actuating three limbs, the mechanism can also achieve inchworm locomotion and combined locomotion of SCL and inchworm locomotion. The mobility and kinematic analysis of the mechanism are then dealt with. As a demonstration, the pipe-climbing gaits with the above modes of locomotion are planned. According to the gaits analysis, the mechanism can adapt to a wide range of pipe diameters and overcome bigger fracture in pipe. The specific mechanical design is introduced and the prototype is fabricated to verify the feasible of the mechanism.

Original languageEnglish
Title of host publicationASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791846360
Publication statusPublished - 2014
Event38th Mechanisms and Robotics Conference 2014 - Buffalo, United States
Duration: 17 Aug 201420 Aug 2014


Conference38th Mechanisms and Robotics Conference 2014
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


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