Research Papers

Research on Rolling Parallel Robot With Hydraulic Driven Antiparallelogram Chain

[+] Author and Article Information
Haikuo Shen

School of Mechanical, Electronic and
Control Engineering,
Beijing Jiaotong University,
Beijing 100044, China
e-mail: Shenhk@bjtu.edu.cn

Kaihua Zhang

School of Mechanical, Electronic and
Control Engineering,
Beijing Jiaotong University,
Beijing 100044, China
e-mail: 12221090@bjtu.edu.cn

Afsoon Nejati

Department of System and
Computer Engineering,
Carleton University,
Ottawa, ON K1S 5B6, Canada
e-mail: afsoonnejatiaghdam@cmail.carleton.ca

Manuscript received September 12, 2016; final manuscript received December 15, 2016; published online January 12, 2017. Assoc. Editor: Raffaele Di Gregorio.

J. Mechanisms Robotics 9(1), 011015 (Jan 12, 2017) (9 pages) Paper No: JMR-16-1268; doi: 10.1115/1.4035543 History: Received September 12, 2016; Revised December 15, 2016

Aiming at acquiring large deformation capability, powerful strength output, rapid response, and flexible locomotion, a novel three degrees-of-freedoms (DOFs) rolling parallel robot is proposed. This robot adopts the parallel mechanism, and its structure can guarantee the stiffness of the robot. The large capability of deformation can be obtained by taking advantage of the antiparallelogram mechanism with an enlarging mechanism of extension ratio. Hydraulic actuation is used for the telescopic input, which can increase the locomotion flexibility and the strength output of the robot. Rolling motion of the robot can be reached through planning and controlling the relations between the center of mass (CM) of the robot and the supporting region. The mechanical construction and configuration of the robot are described, the rolling gaits are planned, and the optimal locomotion law is given. Based on the law, the kinematic model of the robot is created. The kinematic model is validated by the given numerical example. The locomotion feasibility of two locomotion periods is analyzed. A set of experimental tests on the hydraulic system and the robotic system are performed. Results of four rolling experiments verify the reliability of the experimental system and the rapid response capability and also verify the validity and feasibility of the theoretical analysis and the rolling locomotion.

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Fig. 1

Three-dimensional model of the rolling robot

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Fig. 2

Gait planning, supporting area, and optimal path

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Fig. 3

Schematic diagram of mechanism

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Fig. 4

Antiparallelogram kinematic model

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Fig. 5

Example validation count

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Fig. 6

The establishment of 3RPS kinematic model

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Fig. 8

The kinematics model validation

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Fig. 9

Simulation results of the robot: (a) displacement of hydraulic cylinder, (b) velocity of hydraulic cylinder, and (c) force of hydraulic cylinder

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Fig. 10

Experimental system platform

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Fig. 11

Picture of the equivalent joint

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Fig. 12

Rolling experiment for one period

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Fig. 13

The locus of driven chain: (a) the locus of driven chain I, (b) the locus of driven chain II, and (c) the locus of driven chain III




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