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Frontiers of Mechanical Engineering

Front Mech Eng    2013, Vol. 8 Issue (4) : 340-349
A rolling 3-UPU parallel mechanism
Zhihuai MIAO1, Yan’an YAO1(), Xianwen KONG2
1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China; 2. School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, EH14 4AS, UK
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A novel rolling mechanism is proposed based on a 3-UPU parallel mechanism in this paper. The rolling mechanism is composed of two platforms connected by three UPU (universal-prismatic-universal) serial-chain type limbs. The degree-of-freedom of the mechanism is analyzed using screw theory. Gait analysis and stability analysis are presented in detail. Four rolling modes of the mechanism are discussed and simulated. The feasibility of the rolling mechanism is verified by means of a physical prototype. Finally, its terrain adaptability is enhanced through planning the rolling gaits.

Keywords parallel mechanism      rolling mechanism      screw theory     
Corresponding Authors: YAO Yan’an,   
Issue Date: 05 December 2013
 Cite this article:   
Zhihuai MIAO,Yan’an YAO,Xianwen KONG. A rolling 3-UPU parallel mechanism[J]. Front Mech Eng, 2013, 8(4): 340-349.
Fig.1  3D model and kinematic diagram of the rolling 3-UPU mechanism: (a) 3D model; (b) Kinematic diagram
Fig.2  DOF analysis of the rolling 3-UPU mechanism
Fig.3  Locomotion phases of the rolling 3-UPU mechanism with parallelogram rolling mode
Fig.4  Locomotion phases of the rolling 3-UPU mechanism with anti-parallelogram rolling mode
Fig.5  Locomotion phases of the rolling 3-UPU mechanism with somersault rolling mode
Fig.6  Locomotion phases of the rolling 3-UPU mechanism with 6U rolling mode in a cycle
Fig.7  The convex hull of the support platform
Fig.8  The curves of two driving angles and
Fig.9  The curves of and
Fig.10  The trajectory of ZMP
Fig.11  A prototype of the rolling 3-UPU mechanism
Fig.12  The somersault rolling gait
Fig.13  The 6U rolling gait
Fig.14  The deformable function of anti-parallelogram
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