Frontiers of Mechanical Engineering >
A rolling 3-UPU parallel mechanism
Received date: 23 Sep 2013
Accepted date: 20 Oct 2013
Published date: 05 Dec 2013
Copyright
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.
Key words： parallel mechanism; rolling mechanism; screw theory
Zhihuai MIAO , Yan’an YAO , Xianwen KONG . A rolling 3-UPU parallel mechanism[J]. Frontiers of Mechanical Engineering, 2013 , 8(4) : 340 -349 . DOI: 10.1007/s11465-013-0282-6
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