A rolling 3-UPU parallel mechanism

Zhihuai Miao, Yan' an Yao, Xianwen Kong

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


A novel rolling mechanism is proposed based on a 3-UPU parallel mechanism in this paper. The rolling mechanism is composed of two platforms connected by three UPU (universal-prismatic-universal) serial-chain type limbs. The degree-of-freedom of the mechanism is analyzed using screw theory. Gait analysis and stability analysis are presented in detail. Four rolling modes of the mechanism are discussed and simulated. The feasibility of the rolling mechanism is verified by means of a physical prototype. Finally, its terrain adaptability is enhanced through planning the rolling gaits.
Original languageEnglish
Pages (from-to)340-349
Number of pages10
JournalFrontiers of Mechanical Engineering
Issue number4
Publication statusPublished - 1 Dec 2013


  • Parallel mechanism
  • Rolling mechanism
  • Screw Theory


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