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A Rolling Triangular-Bipyramid Robot Covering Bennett Linkage

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Mechanism and Machine Science (ASIAN MMS 2016, CCMMS 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 408))

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Abstract

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.

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Acknowledgments

This work was supported by National Natural Science Foundation of China (51405013), Science and Technology Special Project of Beijing (Z161100003216024).

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Authors and Affiliations

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, 100044, Beijing, China

    Ran Liu & Yan-an Yao

Authors
  1. Ran Liu
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  2. Yan-an Yao
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Corresponding author

Correspondence to Ran Liu .

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Editors and Affiliations

  1. South China University of Technology , Guangzhou, China

    Xianmin Zhang

  2. South China University of Technology , Guangzhou, China

    Nianfeng Wang

  3. South China University of Technology , Guangzhou, China

    Yanjiang Huang

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Liu, R., Yao, Ya. (2017). A Rolling Triangular-Bipyramid Robot Covering Bennett Linkage. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_35

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  • DOI: https://doi.org/10.1007/978-981-10-2875-5_35

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2874-8

  • Online ISBN: 978-981-10-2875-5

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