A rolling 3-UPU parallel mechanism

Zhihuai Miao; Yan' an Yao; Xianwen Kong

doi:10.1007/s11465-013-0282-6

A rolling 3-UPU parallel mechanism

Zhihuai Miao, Yan' an Yao, Xianwen Kong

Research output: Contribution to journal › Article › peer-review

8 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	340-349
Number of pages	10
Journal	Frontiers of Mechanical Engineering
Volume	8
Issue number	4
DOIs	https://doi.org/10.1007/s11465-013-0282-6
Publication status	Published - 1 Dec 2013

Keywords

Parallel mechanism
Rolling mechanism
Screw Theory

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10.1007/s11465-013-0282-6

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title = "A rolling 3-UPU parallel mechanism",

abstract = "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.",

keywords = "Parallel mechanism, Rolling mechanism, Screw Theory",

author = "Zhihuai Miao and Yao, {Yan' an} and Xianwen Kong",

year = "2013",

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T1 - A rolling 3-UPU parallel mechanism

AU - Miao, Zhihuai

AU - Yao, Yan' an

AU - Kong, Xianwen

PY - 2013/12/1

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N2 - 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.

AB - 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.

KW - Parallel mechanism

KW - Rolling mechanism

KW - Screw Theory

U2 - 10.1007/s11465-013-0282-6

DO - 10.1007/s11465-013-0282-6

M3 - Article

SN - 2095-0233

VL - 8

SP - 340

EP - 349

JO - Frontiers of Mechanical Engineering

JF - Frontiers of Mechanical Engineering

IS - 4

ER -

A rolling 3-UPU parallel mechanism

Abstract

Keywords

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