Foldable Triangular Bipyramid Rolling Mechanism

Abstract

Abstract: A new kind of rolling mechanism is proposed. This mechanism is able to deform between triangular bipyramid and spheroid with two corresponding mobile modes. When it is a triangular bipyramid, rolling function can be realized by transformation and the eccentric block controls direction switching. It can be folded into a spheroid which driven by a eccentric block. Folding mechanism is used to realize the motion function and decrease the storage space by single degree of freedom. It is proved that there are three freedoms by analysing the structure. Rolling gait is confirmed by kinematics analysis. The results of the simulated model show that the rolling mechanism can transform between the two modes and pass the prospective path. A prototype is manufactured to test the feasibility of deforming method and rolling function, and the theory is proved by its performance.

Key words: folding mechanism;triangular bipyramid：rolling mechanism

CLC Number:

TP249

LI Yezhuo;TIAN Yaobin;YAO Yanan. Foldable Triangular Bipyramid Rolling Mechanism[J]. , 2014, 50(11): 68-79.

Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks

URL: http://www.cjmenet.com.cn/EN/

http://www.cjmenet.com.cn/EN/Y2014/V50/I11/68

[1]	LIU Shuguang, XIE Jiacheng, WANG Xuewen, QIN Lang. XR-driven Human-robot Hybrid Decision-making for Auxiliary Operations in Coal Mines: Architecture, Key Technologies, and Applications [J]. Journal of Mechanical Engineering, 2025, 61(15): 297-313.
[2]	SUN Nianyi, ZHAO Jin, HUANG Lei, WANG Guangwei. Tunnel Scene Oriented Intelligent Vehicle Radar Vision Cooperative Sensing Research [J]. Journal of Mechanical Engineering, 2025, 61(13): 80-95.
[3]	LI Mingfu, WANG Feihong, ZHU Lingfeng, LI Xiang, LEI Gaopan, LIU Yi, LI Linling, HOU Yukui, HU Yuliang. Research Progress on Contact-rich Automated Assembly Methods：Learning Robotic Assembly Contact Force Control Skills [J]. Journal of Mechanical Engineering, 2025, 61(10): 395-413.
[4]	LUO Xuejin, ZHANG Runshi, DENG Yingyan, MO Hao, ZHU Jiayu, LIU Xinyu, HE Yang, WANG Junchen. Dual-robot Surgical System for Collaborative Maxillofacial Osteotomy [J]. Journal of Mechanical Engineering, 2025, 61(3): 212-224.
[5]	ZHANG Deyu, LIU Siyu, ZHANG Jian, YAN Tianyi, WU Jinglong, MING Zhiyuan. Brain Controlled Manipulator Based on Dynamic Visual Paradigm and Real-time Feedback [J]. Journal of Mechanical Engineering, 2023, 59(21): 157-166.
[6]	WANG Guobiao, SONG Jianli. Review on the Advanced Manufacturing National Strategy of the United States and Prospect of the Future Technologies [J]. Journal of Mechanical Engineering, 2023, 59(19): 187-201.
[7]	WANG Bin, WU Dan, GAI Yu-hang. High-Precision Wafer Pose Visual Detection for Robot Precise Assembly [J]. Journal of Mechanical Engineering, 2023, 59(8): 50-59.
[8]	JIANG Lin, NIE Wenkang, ZHU Jianyang, LIU Qi, TIAN Tixian, LI Jun. Improved AMCL Relocation Algorithm based on Semantic Map with Corner Information [J]. Journal of Mechanical Engineering, 2022, 58(24): 312-323.
[9]	MA Jianwei, YAN Huiteng, Lü Qi, SUN Hechen, GAO Song. In-situ Integrated Robot Machining Technology for Special-shaped Components with Correlation Feature [J]. Journal of Mechanical Engineering, 2022, 58(14): 104-115.
[10]	WANG Wendong, XIAO Menghan, KONG Dezhi, GUO Dong, YUAN Xiaoqing, ZHANG Peng. Closed-loop PD Iterative Control Method for Upper Limb Rehabilitation Exoskeleton Based on Human-robot Coupling Model [J]. Journal of Mechanical Engineering, 2021, 57(21): 11-21.
[11]	HE Tianbao, GUO Chuangqiang, REN Hao, JIANG Li. Research Progress of Venipuncture Robot [J]. Journal of Mechanical Engineering, 2021, 57(3): 1-10.
[12]	LI Xiaopeng, SHANG Dongyang, CHEN Renzhen, WEN Bangchun. Control Strategy of Flexible Load Servo Drive System Based on Manipulator Position and Position Transformation [J]. Journal of Mechanical Engineering, 2020, 56(21): 56-69.
[13]	JIANG Lin, LI Jun, MA Xianzhong, NIE Wenkang, ZHU Jianyang, LEI Bin. Voronoi Path Planning Based on Improved Skeleton Extraction [J]. Journal of Mechanical Engineering, 2020, 56(13): 138-148.
[14]	JI Xuquan, WANG Junchen, ZHAO Jiangdi, ZHANG Xiaohui, SUN Zhen. Intelligent Robotic Assembly Method of Spaceborne Equipment Based on Visual Guidance [J]. Journal of Mechanical Engineering, 2018, 54(23): 63-72.
[15]	ZHANG Tie, YE Jingyang, LIU Xiaogang. Weighted Hand-eye Calibration Algorithm for Robot Grinding [J]. Journal of Mechanical Engineering, 2018, 54(17): 142-148.

Foldable Triangular Bipyramid Rolling Mechanism

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments