Mobile robot with multiple modes based on 4-URU parallel mechanism

Zhihuai Miao*, Jieyu Wang, Bing Li

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter

5 Citations (Scopus)


A novel mobile robot with multiple modes is proposed based on 4-URU parallel mechanism. The mobile robot is composed of two platforms (feet) and four URU (universal-revolute-universal) chains. After the description of the robot, the DOF (degree-of-freedom) of the robot is calculated using screw theory. Three mobile modes and two operation mode of the robot are discussed and simulated. In the first mobile mode, the robot can achieve rolling and turning function and can walk in the second mobile mode. Besides, it has the ability to jump in the third mobile mode. Two operation modes are introduced: Firstly, the hoisting mode which has lifting function like scissors-fork hoisting mechanisms is developed. Secondly, the collapsing mode in which the mechanism are spread onto a plane is discovered.

Original languageEnglish
Title of host publicationNew Trends in Mechanism and Machine Science
Subtitle of host publicationTheory and Industrial Applications
EditorsPhilippe Wenger, Paulo Flores
Number of pages9
ISBN (Electronic)9783319441566
ISBN (Print)9783319441559
Publication statusPublished - 2017

Publication series

NameMechanisms and Machine Science
PublisherSpringer International Publishing
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


  • Collapsing mechanism
  • Mobile robot
  • Multiple modes
  • Parallel mechanism
  • Screw theory

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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