A rolling mechanism with two modes of planar and spherical linkages

Jieyu Wang; Yanan Yao; Xianwen Kong

doi:10.1177/0954406215590188

A rolling mechanism with two modes of planar and spherical linkages

Jieyu Wang, Yanan Yao^*, Xianwen Kong

^*Corresponding author for this work

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

7 Citations (Scopus)

Abstract

A novel deformable rolling mechanism is proposed in this paper. The mechanism can switch between two modes: a planar linkage mode and a spherical linkage mode. In the planar linkage mode, the mechanism rolls like a planar four-bar mechanism and moves along a straight line. In the spherical linkage mode, the mechanism rolls as a spherical four-bar mechanism and moves along a polygon. A standing posture, which likes an upright pyramid, of the rolling mechanism is also identified. After the description of the novel mechanism, the kinematic analysis of the mechanism is presented, and appropriate control strategies are proposed. Then, the rolling conditions of the mechanism are investigated based on the zero-moment-point theory. Finally, the various modes of the mechanism are verified by both simulations and prototype experiments.

Original language	English
Pages (from-to)	2110-2123
Number of pages	14
Journal	Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Volume	230
Issue number	12
Early online date	4 Jun 2015
DOIs	https://doi.org/10.1177/0954406215590188
Publication status	Published - 14 Jul 2016

Keywords

mobile mechanism
planar linkage
Reconfigurable mechanism
rolling robot
spherical linkage

ASJC Scopus subject areas

Mechanical Engineering

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10.1177/0954406215590188

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title = "A rolling mechanism with two modes of planar and spherical linkages",

abstract = "A novel deformable rolling mechanism is proposed in this paper. The mechanism can switch between two modes: a planar linkage mode and a spherical linkage mode. In the planar linkage mode, the mechanism rolls like a planar four-bar mechanism and moves along a straight line. In the spherical linkage mode, the mechanism rolls as a spherical four-bar mechanism and moves along a polygon. A standing posture, which likes an upright pyramid, of the rolling mechanism is also identified. After the description of the novel mechanism, the kinematic analysis of the mechanism is presented, and appropriate control strategies are proposed. Then, the rolling conditions of the mechanism are investigated based on the zero-moment-point theory. Finally, the various modes of the mechanism are verified by both simulations and prototype experiments.",

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T1 - A rolling mechanism with two modes of planar and spherical linkages

AU - Wang, Jieyu

AU - Yao, Yanan

AU - Kong, Xianwen

PY - 2016/7/14

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N2 - A novel deformable rolling mechanism is proposed in this paper. The mechanism can switch between two modes: a planar linkage mode and a spherical linkage mode. In the planar linkage mode, the mechanism rolls like a planar four-bar mechanism and moves along a straight line. In the spherical linkage mode, the mechanism rolls as a spherical four-bar mechanism and moves along a polygon. A standing posture, which likes an upright pyramid, of the rolling mechanism is also identified. After the description of the novel mechanism, the kinematic analysis of the mechanism is presented, and appropriate control strategies are proposed. Then, the rolling conditions of the mechanism are investigated based on the zero-moment-point theory. Finally, the various modes of the mechanism are verified by both simulations and prototype experiments.

AB - A novel deformable rolling mechanism is proposed in this paper. The mechanism can switch between two modes: a planar linkage mode and a spherical linkage mode. In the planar linkage mode, the mechanism rolls like a planar four-bar mechanism and moves along a straight line. In the spherical linkage mode, the mechanism rolls as a spherical four-bar mechanism and moves along a polygon. A standing posture, which likes an upright pyramid, of the rolling mechanism is also identified. After the description of the novel mechanism, the kinematic analysis of the mechanism is presented, and appropriate control strategies are proposed. Then, the rolling conditions of the mechanism are investigated based on the zero-moment-point theory. Finally, the various modes of the mechanism are verified by both simulations and prototype experiments.

KW - mobile mechanism

KW - planar linkage

KW - Reconfigurable mechanism

KW - rolling robot

KW - spherical linkage

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JF - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

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A rolling mechanism with two modes of planar and spherical linkages

Abstract

Keywords

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