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2019•Unpublished venueRequires access

A Multi-mode Mobile Parallel Mechanism Based on Planar 6R

Zhi Chen, Chunyan Zhang, Maosheng Li

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Abstract

The planar 6R mechanism is applied to the design of the mechanism, and a novel type of parallel robot with two modes of rolling and walking is proposed. Then, the mechanism generation principle expounded by using the configuration synthesis method of single-loop kinematic chain; the kinematics of the mechanism is analyzed by using vector method. Finally, the mechanism simulated by ADAMS software. The simulation results show that the two motion modes of the mechanism are feasible, which provides a theoretical basis for the prototype manufacture.

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What this paper is about

The planar 6R mechanism is applied to the design of the mechanism, and a novel type of parallel robot with two modes of rolling and walking is proposed. Then, the mechanism generation principle expounded by using the configuration synthesis method of single-loop kinematic chain; the kinematics of the mechanism is analyzed by using vector method. Finally, the mechanism simulated by ADAMS software. The simulation results show that the two motion modes of the mechanism are feasible, which provides a theoretical basis for the prototype manufacture.

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Available abstract

The planar 6R mechanism is applied to the design of the mechanism, and a novel type of parallel robot with two modes of rolling and walking is proposed. Then, the mechanism generation principle expounded by using the configuration synthesis method of single-loop kinematic chain; the kinematics of the mechanism is analyzed by using vector method. Finally, the mechanism simulated by ADAMS software. The simulation results show that the two motion modes of the mechanism are feasible, which provides a theoretical basis for the prototype manufacture.

Key concepts: Mechanism (biology), Kinematics, Planar, Computer science, Mode (computer interface), Parallel manipulator, Mechanism design, Mobile robot

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