Multi-mode Spatial 6R Ground Mobile Mechanism

doi:10.3901/JME.2019.23.038

Abstract

Abstract: A new single-loop spatial F1C1 (one constraint force F and constraint couple C) constrained 6R (the revolute joint) mechanism is proposed and used as a ground mobile mechanism. The single-loop spatial F1C1 constrained 6R mechanism is constructed based on the type synthesis of single-loop kinematic chains theory. The degree of freedom and singularity of the mechanism has been investigated by the screw theory. Considering the ground movement requirements, the links' configurations are designed and the layout of motors is planned. The kinematics and mobile gait are analyzed. Three different mobile modes, including the creeping, plane 4R turning and varus mode, are proposed. The obstacle ability and outstanding folding characteristics are analyzed respectively. Finally, a prototype is made to verify that the idea and motion planning of the multi-mode spatial 6R ground mobile mechanism are feasibility.

Key words: spatial 6R mechanism, single-loop mechanism, multi-mode movement

CLC Number:

TP242

LIU Chao, CHAO Xindi, YAO Yanan. Multi-mode Spatial 6R Ground Mobile Mechanism[J]. Journal of Mechanical Engineering, 2019, 55(23): 38-47.

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