2012, Volume 7, Issue 1
Frontiers of Mechanical Engineering >> 2012, Volume 7, Issue 1 doi: 10.1007/s11465-012-0301-z
A pneumatic cylinder driving polyhedron mobile mechanism
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
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