A rolling 3-UPU parallel mechanism

Abstract

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

References

[1] Armour R H, Vincent J F V. Rolling in nature and robotics: a review. Journal of Bionics Engineering, 2006, 3(4): 195–208

[2] Javadi A H, Mojabi P. Introducing glory: a novel strategy for an omnidirectional spherical rolling robot. Journal of Dynamic Systems Measurement and Control, 2004, 126(3): 678–683

[3] Das T, Mukherjee R. Exponential stabilization of the rolling sphere. Automatica, 2004, 40(11): 1877–1889

[4] Joshi V A, Banavar R N. Motion analysis of a spherical mobile robot. Robotica, 2009, 27(3): 343–353

[5] Joshi V A, Banavar R N, Hippalgaonkar R. Design and analysis of a spherical mobile robot. Mechanism and Machine Theory, 2010, 45(2): 130–136

[6] Kong X, Doak R. Conceptual design and analysis of spherical mobile robots with an omni-wheel based internal driving unit. In: Proceedings of ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, <patent>DETC2011-48857</patent>, Washington, USA, August 28–31, 2011

[7] Sastra J, Chitta S, Yim M. Dynamic rolling for a modular loop robot. International Journal of Robotics Research, 2009, 28(6): 758–773

[8] Lee W H, Sanderson A C. Dynamic rolling, locomotion planning, and control of an icosahedral modular robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000, 2178–2183

[9] Shibata M, Hirai S. Rolling locomotion of deformable tensegrity structure. In: Proceedings of 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, 2009, 479–486

[10] Clark P E, Rilee M L, Curtis S A, Truszkowski W, Marr G, Cheung C, Rudisill M. BEES for ANTS: Space mission applications for the autonomous nanotechnology swarm. In: Proceedings of First AIAA Intelligent Systems Technical Conference, American Institute of Aeronautics and Astronautics, 2004

[11] Abrahantes M, Silver A, Wendt L. Gait design and modeling of a 12-Tetrahedron walker robot. In: Proceedings of 39th Southeastern Symposium on System Theory, Macon, Georgia, 2007, 21–25

[12] Curtis S, Brandt M, Bowers G, Brown G, Cheung C, Cooperider C, Desch M, Desch N, Dorband J, Gregory K, Lee K, Lunsford A, Minetto F, Truszkowski W, Wesenberg R, Vranish J, Capon T, Weaker M, Capon T, Weaker M, Watson R, Olivier P, Rilee M. Tetrahedral robotics for space exploration. IEEE Aerospace and Electronic Systems Magazine, 2007, 22(6): 22–30

[13] Miao Z H, Yao Y A. A rolling 6U parallel mechanism. Frontiers of Mechanical Engineering in China, 2011, 6(1): 96–98

[14] Liu C H, Li R M, Yao Y A. An omnidirectional rolling 8U parallel mechanism. Journal of Mechanisms and Robotics, 2012, 4(3): 034501

[15] Huang Z, Li Q C. Construction and kinematic properties of 3-UPU parallel mechanisms. In: Proceedings of ASME DETC’02, 2002

[16] Kong X W, Gosselin C M. Type Synthesis of Parallel Mechanisms. Springer, 2007

[17] Gogu G. Mobility of mechanisms: a critical review. Mechanism and Machine Theory, 2005, 40(9): 1068–1097

[18] Liu C H, Yao Y A, Li R M, Tian Y B, Zhang N, Ji Y Y, Kong F Z. Rolling 4R linkages. Mechanism and Machine Theory, 2012, 48: 1–14

[19] Takanishi A. Lim H O, Tsuda M, Kato I. Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface. In: Proceedings of International Conference on Intelligent Robots and Systems, 1990, 323–330

[20] Park J H. Fuzzy-logic zero moment point trajectory generation for reduced trunk motions of biped robots. Fuzzy Sets and Systems, 2003, 134(1): 189–203

[21] Vukobratović M, Borovac B. Zero-moment point — thirty five years of its life. International Journal of Humanoid Robotics, 2004, 1(1): 157–173

[22] Takanishi A, Tochizawa M, Takeya T, Karaki H, Kato I. Realization of dynamic biped walking stabilized with trunk motion under known external force. Advanced Robotics, 1989, 299–310

Acknowledgements

This work is supported by National Natural Science Foundation of China (51175030), Fundamental Research Funds for the Central Universities (2012JBZ002), Chinese Ministry of Education (625010403).

RIGHTS & PERMISSIONS

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg