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2020年 第15卷 第3期

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《机械工程前沿（英文）》 >> 2020年 第15卷 第3期 doi: 10.1007/s11465-020-0585-3

Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree of freedom

. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China.. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

录用日期： 2020-04-29 发布日期： 2020-04-29
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This study presents two kinds of rolling robots that are able to roll by deforming their outer shapes with a single degree of freedom. Each robot is an essential multi-loop planar expandable linkage constructed by a concave outer loop and several inner parallelogram loops. In this study, the mechanical design of the robots is introduced. Dynamic rolling process is further analyzed on the basis of zero moment point method, and a morphing strategy is proposed to guarantee a stable dynamic rolling process. A novel passive rolling locomotion is also developed, which enables the robots to roll and stand on a slope. To verify the design, two prototypes are manufactured, wherein the dynamic and passive rolling locomotion are carried out.

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