A rolling mechanism with two modes of planar and spherical linkages

Jieyu Wang, Yanan Yao, Xianwen Kong

Research output: Contribution to journalArticle

3 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 languageEnglish
Pages (from-to)2110-2123
Number of pages14
JournalProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Volume230
Issue number12
Early online date4 Jun 2015
DOIs
Publication statusPublished - 14 Jul 2016

Keywords

  • mobile mechanism
  • planar linkage
  • Reconfigurable mechanism
  • rolling robot
  • spherical linkage

ASJC Scopus subject areas

  • Mechanical Engineering

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