A rolling 3-UPU parallel mechanism

doi:10.1007/s11465-013-0282-6

Front Mech Eng

2013, Vol. 8

Issue (4) : 340-349 https://doi.org/10.1007/s11465-013-0282-6

RESEARCH ARTICLE

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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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

Corresponding Author(s): YAO Yan’an,Email:yayao@bjtu.edu.cn

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.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-013-0282-6
https://academic.hep.com.cn/fme/EN/Y2013/V8/I4/340

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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