|
|
|
| A Two Spatial-Crossed Parallelograms Rolling Robot |
| HAO Yan-Ling, LIU Chang-Huan, XIE Ji-Long, YAO Yan-An |
(School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University,
Beijing 100044, China) |
|
|
|
|
Abstract To make the robot move and turn with only a few degrees of freedom, a new rolling robot with the geometry configuration of two spatialcrossed parallelograms was proposed. The structure of the robot is a spatial mechanism consisting of 14 links and 16 joints. The robot is composed of two platforms and four limbs and has the apparent configuration of two spatialcrossed parallelograms. Based on the moving principle and its degree of freedom, the stability and rolling direction were analyzed. The kinematic simulation was performed. Finally, a prototype was developed to verify the feasibility of the proposed concept. The experiments testify its omnidirectional movement realized by the rolling gait under the control of two actuators.
|
|
Received: 29 August 2011
Published: 28 June 2012
|
|
|
|
|
|
|
|
|
