A Two Spatial-Crossed Parallelograms Rolling Robot

Abstract

Abstract: To make the robot move and turn with only a few degrees of freedom, a new rolling robot with the geometry configuration of two spatialcrossed parallelograms was proposed. The structure of the robot is a spatial mechanism consisting of 14 links and 16 joints. The robot is composed of two platforms and four limbs and has the apparent configuration of two spatialcrossed parallelograms. Based on the moving principle and its degree of freedom, the stability and rolling direction were analyzed. The kinematic simulation was performed. Finally, a prototype was developed to verify the feasibility of the proposed concept. The experiments testify its omnidirectional movement realized by the rolling gait under the control of two actuators.

Key words: spherical robot, rolling, deformation

CLC Number:

TP 24

HAO Yan-Ling, LIU Chang-Huan, XIE Ji-Long, YAO Yan-An. A Two Spatial-Crossed Parallelograms Rolling Robot[J]. Journal of Shanghai Jiaotong University, 2012, 46(06): 949-955.

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