2013, Volume 8, Issue 4
Frontiers of Mechanical Engineering >> 2013, Volume 8, Issue 4 doi: 10.1007/s11465-013-0282-6
A rolling 3-UPU parallel mechanism
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.
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