A Rolling Triangular-Bipyramid Robot Covering Bennett Linkage

摘要：

　　In this paper,a novel rolling triangular-bipyramid robot constructed based on a well-known Bennett linkage and a RSR chain is proposed.The two components connected by hinging RSR chain on two opposite axes of the Bennett linkage,and the R joints are perpendicular to the two axes,respectively.The robot has two degrees of freedom,and one actuator mounted at one of the R joint of the Bennett linkage while the other mounted at the R joint of the junction.By the analysis of kinematics,the robot can be folded into a narrow structure,which is easy to store and carry.Further,the rolling motion and path analysis are discussed.Finally,the simulation based on a 3D model was carried out to verify the feasibility of the proposed concept.

关键词： Triangular-bipyramid Bennett linkage Rolling robot

作者: Ran Liu Yan-an Yao

作者单位: School of Mechanical, Electronic and Control Engineering,Beijing Jiaotong University, 100044 Beijing, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 415-427

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）