A Novel Deployable Tetrahedron-Based Mobile Mechanism with Only Revolute Joints
In this paper,a novel deployable tetrahedron-based mobile mechanism constructed by only revolute joints with six degrees of freedom(DOFs)is proposed.The mechanism is a centrosymmetric structure that contains five tetrahedrons with a total of eight nodes and 18 identical RRR branch chains.According to the mobility analysis,the mechanism possesses two feasible folding modes and three feasible rolling directions.From kinematic analysis,the center of mass(CM)of the mechanism can be obtained.Based on which,the two rolling gaits of the mechanism are discussed in detail.Further,the locomotion path is presented.Finally,the simulation experiment based on a 3D model is carried out to verify the functions of the proposed mechanism.
Tetrahedron-based revolute joint deployable structure mobile mechanism
Ran Liu Yan-an Yao
School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,100044 Beijing,China
国内会议
北京
英文
237-249
2018-08-02（万方平台首次上网日期，不代表论文的发表时间）