A Novel Deployable Hexahedron Mobile Mechanism Constructed by Only Prismatic Joints-Reference-Cited by-同舟云学术

A Novel Deployable Hexahedron Mobile Mechanism Constructed by Only Prismatic Joints

Published:2013-10-10 Issue:4 Volume:5 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Ding Wan¹,Yao Yan-an²

Affiliation:

1. e-mail:

2. e-mail: School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China

Abstract

This paper proposes a novel deployable hexahedron mobile mechanism that is rigidly linked by only prismatic joints. The mechanism that is a completely symmetrical structure can always keep the walking capability when any of its six faces of the hexahedron touches the ground. It can roll at any stable state. The configuration constructed by only prismatic joints makes it expand and contract as a deployable structure. In this paper, a method for constructing a deployable hexahedron mobile mechanism is proposed. The stability analysis and dynamic simulation of the walking and rolling are carried out. The necessary condition of tipping motion and the speed analysis of two different rolling gaits are studied in details. A binary control strategy is adopted to simplify the complexity of the control system. A pneumatic cylinder is chosen to be the binary actuator. A prototype composed of 180 pneumatic cylinders was fabricated. The validity of the walking and tipping functions are verified by the experimental results.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4025410/6251938/jmr_005_04_041016.pdf

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