{"title":"A Multi-mode Mobile Parallel Mechanism Based on Planar 6R","authors":"Zhi Chen, Chunyan Zhang, Mao-sheng Li","doi":"10.1145/3351917.3351921","DOIUrl":null,"url":null,"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.","PeriodicalId":367885,"journal":{"name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","volume":"38 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3351917.3351921","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
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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