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Frontiers of Mechanical Engineering

ISSN 2095-0233

ISSN 2095-0241(Online)

CN 11-5984/TH

Postal Subscription Code 80-975

2018 Impact Factor: 0.989

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Front Mech Eng    0, Vol. Issue () : 55-65    https://doi.org/10.1007/s11465-012-0301-z
RESEARCH ARTICLE
A pneumatic cylinder driving polyhedron mobile mechanism
Wan DING1, Sung-Chan KIM2, Yan-An YAO1()
1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China; 2. Science Institute, Pyongyang Railway University, Pyongyang, Democratic People’s Republic of Korea
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Abstract

A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper. The mechanism is comprised of 5 tetrahedrons which includes a pneumatic cylinder in each edge. It locomotes by rolling and the rolling principle refers to the center of mass (CM) of the mechanism moved out of the supporting area and let it tip over through the controlling of the motion sequence of these cylinders. Firstly, the mathematical model is built to analysis the relation between the configuration and the CM of the mechanism. Then, a binary control strategy is developed to simplify and improve the control of this mobile mechanism. After that, dynamic simulation is performed to testify the analytical validity and feasibility of the rolling gaits. At last, a prototype is fabricated to achieve the rolling successfully to demonstrate the proposed concept.
Keywords mobile mechanism      polyhedron      cylinder     
Corresponding Author(s): YAO Yan-An,Email:yayao@bjtu.edu.cn   
Issue Date: 05 March 2012
 Cite this article:   
Wan DING,Sung-Chan KIM,Yan-An YAO. A pneumatic cylinder driving polyhedron mobile mechanism[J]. Front Mech Eng, 0, (): 55-65.
 URL:  
https://academic.hep.com.cn/fme/EN/10.1007/s11465-012-0301-z
https://academic.hep.com.cn/fme/EN/Y0/V/I/55
Fig.1  A tetrahedral walking robot. (a) Sketch diagram; (b) mathematical model
Fig.2  Construction of 5-tetrahedron. (a) 2-tetrahedron; (b) 3-tetrahedron; (c) 4-tetrahedron; (d) 5-tetrahedron
Fig.3  5-tetrahedron mobile mechanism. (a) 3D model; (b) sketch diagram
Fig.4  Local coordinate system
Fig.5  Mathematical model in local coordinate system
Fig.6  Geometry configuration in world coordinate system
Fig.7  1-tetrahedron mobile mechanism locomotion analysis. (a) All the configuration states of the tetrahedron; (b) relation between supporting area and CM projections
Fig.8  Code 1-stable state. (a) Original configuration; (b) relation between CM projection and supporting area
Fig.9  Code 2-tipping state 1
Fig.10  Code 3-tipping state 2
Fig.11  The rolling direction
Fig.12  Prototype the 5-tetrahedron mobile mechanism
Fig.13  Prototype of the 5-tetrahedron mobile mechanism
Fig.14  Rolling experiment of the 5-tetrahedron mobile mechanism
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doi: 10.1115/1.1637647
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