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Frontiers of Mechanical Engineering

2020, Volume 15,  Issue 3, Pages 365-373
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    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

    Accepted: 2020-04-29 Available online:2020-04-29
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    10.1007/s11465-020-0585-3
    Cite this article
    Yanlin HAO, Yaobin TIAN, Jianxu WU, Yezhuo LI, Yan-An YAO.Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree of freedom[J].Frontiers of Mechanical Engineering,2020,15(3):365-373.

    Abstract

    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.

    Keywords

    rolling locomotion ; expandable mechanism ; mechanism design ; zero moment point (ZMP) analysis
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