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Technical Briefs

An Omnidirectional Rolling 8U Parallel Mechanism

[+] Author and Article Information
Chang-huan Liu

School of Mechanical, Electronic and Control Engineering,  Beijing Jiaotong University, Beijing 100044, P.R. Chinachanghuanliu1984@gmail.com

Rui-ming Li

School of Mechanical, Electronic and Control Engineering,  Beijing Jiaotong University, Beijing 100044, P.R. China08116302@bjtu.edu.cn

Yan-an Yao1

School of Mechanical, Electronic and Control Engineering,  Beijing Jiaotong University, Beijing 100044, P.R. Chinayayao@bjtu.edu.cn

1

Corresponding author.

J. Mechanisms Robotics 4(3), 034501 (May 22, 2012) (6 pages) doi:10.1115/1.4006657 History: Received December 15, 2010; Revised April 11, 2012; Published May 21, 2012; Online May 22, 2012

A novel 8U (universal joint) parallel mechanism, being able to do omnidirectional rolling motion is proposed in this paper. This mobile mechanism owns the priority of simple structure and rolling easily on terrains with loose soil, dirt or sand with only a few actuations. Its spatial closed compact structure is described firstly. In addition, the omnidirectional locomotion accompanied with DOF (degree of freedom) alternation between one and two is revealed by mobility analysis. After that, the feasibility of rolling motion is verified theoretically by stability analysis. Finally, the omnidirectinoal rolling motion is testified both by virtual and prototype experiments.

Copyright © 2012 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

The simplified diagram of the structure of the rolling 8U parallel mechanism

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Figure 2

The 3D model of the rolling 8U parallel mechanism

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Figure 3

The simplified diagram when one platform touches the ground

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Figure 4

The simplified diagram when two limbs touch the ground (limb 2 and 3 are viewed as limb 5)

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Figure 5

The convex hull of the support link

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Figure 6

The curves of two driving angles θ 1 and θ 2 (example 1)

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Figure 7

The curves of xZMP and yZMP (example 1)

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Figure 8

The trajectory of ZMP (example 1)

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Figure 9

The curves of two driving angles θ 1 and θ 2 (example 2)

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Figure 10

The curves of xZMP and yZMP (example 2)

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Figure 11

The trajectory of ZMP (example 2)

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Figure 12

Side view of the rolling process along lone OA of the 8U parallel mechanism

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Figure 13

Side view of the rolling process along the bisector of angle AOD of the 8U parallel mechanism

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Figure 14

The prototype of the rolling 8U parallel mechanism

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Figure 15

Top view of the rolling process along line OA of 8U parallel mechanism in the experiment

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Figure 16

Top view of the rolling process along the bisector of angle AOD of 8U parallel mechanism in the experiment

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