Abstract: A novel application of the Altmann linkage is presented and used as a novel ground mobile mechanism. It can move in straight by tumbling and turn by twisting and inverting. The design concept of the ground mobile Altamann linkage is proposed. The motion principle of this proposed ground mobile Altmann linkage is analyzed. By taking advantage of the singular configuration of the mechanism, the control of turning can be achieved. The gaits of the moving in straight and the turning are planned. The locomotion tracts of the two gaits are analyzed respectively, and the analysis of the key parameters is performed. The results of the research prove that the ground mobile Altmann linkage can move from an initial point to a target point in a plane by the switch control of the straight and the turning gaits. This ground mobile linkage has simple structure, good rigidity due to it is a spatial single-loop linkage. And it is easy to store and transport due to it has good folding ability.

Key words: Altmann linkage, ground mobile mechanism, spatial 6R linkage