Open AccessSpatial 4U quadrilateral rolling mechanism
Author(s) -
Z. Q. Wang,
CH Liu,
X. J. Liu
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1507/5/052009
Subject(s) - quadrilateral , mechanism (biology) , screw theory , trajectory , series (stratigraphy) , motion (physics) , micromanipulator , geometry , computer science , mechanical engineering , structural engineering , mathematics , physics , engineering , geology , classical mechanics , finite element method , artificial intelligence , kinematics , paleontology , quantum mechanics , astronomy
A novel of rolling mechanism constructed by four U joints is proposed. The shape of the mechanism is quadrilateral, which consists of four U joints and four links. The straight and turning rolling can be achieved by two actuators. The DOF (degree of freedom) of the mechanism is computed by using screw theory. The rolling motion analysis and the trajectory analysis are carried out. In addition, a prototype is manufactured and a series of experiments are performed to verify the rolling capability of the mechanism.