Ground Mobile Bricard Mechanism-Reference-Cited by-同舟云学术

Ground Mobile Bricard Mechanism

Published:2020-03-09 Issue:4 Volume:12 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Liu Chao¹,Chao Xindi²,Yao Yan-an²

Affiliation:

1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, No. 3 Shangyuancun, Haidian District, Beijing 100044, China,

2. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, No. 3 Shangyuancun, Haidian District, Beijing 100044, China

Abstract

Abstract A novel application of the well-known single degree-of-freedom (DOF) Bricard mechanism is proposed in this paper. By optimizing the links’ shape and installing motors reasonably, we put forward a ground mobile Bricard mechanism that can move in a constant direction and change its moving direction by using its singular position. The types of kowtowing and spinning modes (dual-mode) are carried out, and the gaits are planned. Finally, the motion simulation and prototype experiment testify that the analyses are correct and the idea of the dual-mode ground mobile Bricard mechanism is feasible.

Funder

Central Universities

National Natural Science Foundation of China

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4046028/6509759/jmr_12_4_041010.pdf

Reference27 articles.

1. Spatial Overconstrained Linkages—The Lost Jade

2. The Line-Symmetric Octahedral Bricard Linkage and Its Structural Closure;Chai;Mech. Mach. Theory,2010