The Miura-ori is an origami pattern with bi-directional folding capable of transforming a large thin sheet into a compact volume with a single degree of freedom (DoF). A common Miura-ori pattern consists of identical rigid parallelogram facets that can rotate about the creases without twisting or stretching. However, large gaps along the hinges or uneven surfaces in deployed states are inevitable when thick panels are used. In this paper, the authors add uniform thickness to a Miura-ori tessellation and connect the thick panels by revolute joints on either the top or the bottom facets of the panels for valley creases or mountain creases, respectively. To enable its folding, regular slits are made on some facets not only to remove the excess kinematic constraints but also to accommodate the panel thickness during the folding process. Having made the cuts, we demonstrate that the resultant assembly can fold into a compact package with one DoF. We further notice that although the slits open up during the folding process, they close in the deployed state of the assembly, giving flat and continuous surfaces on both the top and bottom sides. The same method can also be applied to fold the derivatives of the Miura-ori such as double corrugated patterns.
{"title":"Folding Miura-ori of Uniform Thickness with One DoF","authors":"Jingyi Yang, Zhong You","doi":"10.1115/1.4065004","DOIUrl":"https://doi.org/10.1115/1.4065004","url":null,"abstract":"\u0000 The Miura-ori is an origami pattern with bi-directional folding capable of transforming a large thin sheet into a compact volume with a single degree of freedom (DoF). A common Miura-ori pattern consists of identical rigid parallelogram facets that can rotate about the creases without twisting or stretching. However, large gaps along the hinges or uneven surfaces in deployed states are inevitable when thick panels are used. In this paper, the authors add uniform thickness to a Miura-ori tessellation and connect the thick panels by revolute joints on either the top or the bottom facets of the panels for valley creases or mountain creases, respectively. To enable its folding, regular slits are made on some facets not only to remove the excess kinematic constraints but also to accommodate the panel thickness during the folding process. Having made the cuts, we demonstrate that the resultant assembly can fold into a compact package with one DoF. We further notice that although the slits open up during the folding process, they close in the deployed state of the assembly, giving flat and continuous surfaces on both the top and bottom sides. The same method can also be applied to fold the derivatives of the Miura-ori such as double corrugated patterns.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"34 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140263032","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Scholars have proposed to allow cables to wrap on the base, the end-effector, or obstacles to expand the workspace of a Cable-Driven Parallel Robot (CDPR) in recent years. However, it is not entirely clear whether the path of a cable wrapped on the surface of different rigid bodies can or cannot be solved analytically. To this end, this paper analyzes the statics of a cable wrapped on a general surface and proposes necessary conditions for a path of a cable wrapped on a general frictionless surface. This paper shows that only the path of a cable wrapped on a frictionless surface included in a handful of surfaces, including cylinders and spheres, can be solved analytically. Then, the cable path and inverse velocity kinematics of a CDPR with cables, every of which wraps on a frictionless cylinder or a frictionless sphere, are solved. A CDPR prototype with cables wrapped on cylinders fixed to the base and a CDPR prototype with cables wrapped on a spherical end-effector are established. The kinematics-based control of the CDPR prototypes is achieved.
{"title":"Cable Path Analysis and Kinematic Control of a Cable-Driven Parallel Robot Allowing Cables to Wrap on Cylinders or Spheres","authors":"Hao Xiong, Yuchen Xu, Y. Yu, Yunjiang Lou","doi":"10.1115/1.4064982","DOIUrl":"https://doi.org/10.1115/1.4064982","url":null,"abstract":"\u0000 Scholars have proposed to allow cables to wrap on the base, the end-effector, or obstacles to expand the workspace of a Cable-Driven Parallel Robot (CDPR) in recent years. However, it is not entirely clear whether the path of a cable wrapped on the surface of different rigid bodies can or cannot be solved analytically. To this end, this paper analyzes the statics of a cable wrapped on a general surface and proposes necessary conditions for a path of a cable wrapped on a general frictionless surface. This paper shows that only the path of a cable wrapped on a frictionless surface included in a handful of surfaces, including cylinders and spheres, can be solved analytically. Then, the cable path and inverse velocity kinematics of a CDPR with cables, every of which wraps on a frictionless cylinder or a frictionless sphere, are solved. A CDPR prototype with cables wrapped on cylinders fixed to the base and a CDPR prototype with cables wrapped on a spherical end-effector are established. The kinematics-based control of the CDPR prototypes is achieved.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"86 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140265537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Giuseppe Quaglia, Fortunato Pepe, Lorenzo Toccaceli, Giovanni Colucci
The paper presents a novel mechanical transmission for pulling-cable Electronic Parking Brakes. The system is interposed between the brake electric actuator and the brake pads, and it exploits a 2-dof planar linkage to provide the requested brake force and ensure the correct vehicle standstill. The paper describes the working principles and main component of the adopted architecture, and compares it with the EPB state of the art. Thereafter, the paper focuses on the system requirements and consequent functional design. A first prototype of the presented mechanical transmission is then presented to discuss the role of a mechanical engagement within the system to ensure its proper behaviour. In conclusion, the EPB drive motor assessment is discussed on the basis of a simplified drive chain dynamic model.
{"title":"DESIGN OF A NOVEL LINKAGE FOR ELECTRONIC PARKING BRAKE TRANSMISSION SYSTEMS","authors":"Giuseppe Quaglia, Fortunato Pepe, Lorenzo Toccaceli, Giovanni Colucci","doi":"10.1115/1.4064983","DOIUrl":"https://doi.org/10.1115/1.4064983","url":null,"abstract":"\u0000 The paper presents a novel mechanical transmission for pulling-cable Electronic Parking Brakes. The system is interposed between the brake electric actuator and the brake pads, and it exploits a 2-dof planar linkage to provide the requested brake force and ensure the correct vehicle standstill. The paper describes the working principles and main component of the adopted architecture, and compares it with the EPB state of the art. Thereafter, the paper focuses on the system requirements and consequent functional design. A first prototype of the presented mechanical transmission is then presented to discuss the role of a mechanical engagement within the system to ensure its proper behaviour. In conclusion, the EPB drive motor assessment is discussed on the basis of a simplified drive chain dynamic model.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"100 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140265628","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Variable crease origami that exhibits crease topological morphing allows a given crease pattern to be folded into multiple shapes, greatly extending the reconfigurability of origami structures. However, it is a challenge to enable the thick-panel forms of such crease patterns to bifurcate uniquely and reliably into desired modes. Here, thick-panel theory combined with cuts is applied to a stacked origami tube with multiple bifurcation paths. The thick-panel form corresponding to the stacked origami tube is constructed, which can bifurcate exactly between two desired modes without falling into other bifurcation paths. Then, kinematic analysis is carried out and the results exhibit that the thick-panel origami tube is kinematically equivalent to its zero-thickness form with one degree of freedom (DOF). In addition, a reconfigurable physical prototype of the thick-panel origami tube is produced, which achieves reliable bifurcation control through a single actuator. Such thick-panel origami tubes with controllable reconfigurability have great potential engineering applications in the fields of morphing systems such as mechanical metamaterials, morphing wings, and deployable structures.
{"title":"Reconfigurable Thick-Panel Structures Based on a Stacked Origami Tube","authors":"Weiqi Liu, Yuxing Song, Yan Chen, Xiao Zhang","doi":"10.1115/1.4064836","DOIUrl":"https://doi.org/10.1115/1.4064836","url":null,"abstract":"\u0000 Variable crease origami that exhibits crease topological morphing allows a given crease pattern to be folded into multiple shapes, greatly extending the reconfigurability of origami structures. However, it is a challenge to enable the thick-panel forms of such crease patterns to bifurcate uniquely and reliably into desired modes. Here, thick-panel theory combined with cuts is applied to a stacked origami tube with multiple bifurcation paths. The thick-panel form corresponding to the stacked origami tube is constructed, which can bifurcate exactly between two desired modes without falling into other bifurcation paths. Then, kinematic analysis is carried out and the results exhibit that the thick-panel origami tube is kinematically equivalent to its zero-thickness form with one degree of freedom (DOF). In addition, a reconfigurable physical prototype of the thick-panel origami tube is produced, which achieves reliable bifurcation control through a single actuator. Such thick-panel origami tubes with controllable reconfigurability have great potential engineering applications in the fields of morphing systems such as mechanical metamaterials, morphing wings, and deployable structures.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"17 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140438720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Cooperative continuum robots (CCRs) are composed of multiple coupled continuum arms to cooperatively conduct manipulation tasks. They can highly enhance the performance of individual continuum arms by providing extra stiffness, leading to increased accuracy, payload capacity, and dynamic stability of the robot. This study aimed to investigate the stiffness analysis of tendon-driven supportive-type CCRs (S-CCRs). For this purpose, first, a generalized framework for the dynamic mathematical formulation and numerical solution of S-CCRs was proposed and their dynamic response to complex scenarios was obtained and the accuracy of the model was experimentally evaluated. Then, the capability of stiffness modulation of S-CCRs was studied. Tendon-driven S-CCRs are potentially capable of changing the stiffness with structural configuration, providing active stiffness control at the design level. Hence, in this study, the effects of the connection point location/angle of the supportive arms to the operative arm, as well as the imposed tendon limitations of the supportive arm on the stiffness of the robot, and consequently on the dynamic payload manipulation were studied and practical solutions were proposed to develop a simple but effective stiffness control mechanism. It showed that a typical S-CCR can increase its stiffness, just by a modular connector design up to 84% during manipulation, bringing a novel opportunity for stiffness modulation of CCRs.
{"title":"Dynamic Manipulation and Stiffness Modulation of Cooperative Continuum Robots: Theory and Experiment","authors":"Amir Jalali, Farrokh Janabi-Sharifi","doi":"10.1115/1.4064815","DOIUrl":"https://doi.org/10.1115/1.4064815","url":null,"abstract":"\u0000 Cooperative continuum robots (CCRs) are composed of multiple coupled continuum arms to cooperatively conduct manipulation tasks. They can highly enhance the performance of individual continuum arms by providing extra stiffness, leading to increased accuracy, payload capacity, and dynamic stability of the robot. This study aimed to investigate the stiffness analysis of tendon-driven supportive-type CCRs (S-CCRs). For this purpose, first, a generalized framework for the dynamic mathematical formulation and numerical solution of S-CCRs was proposed and their dynamic response to complex scenarios was obtained and the accuracy of the model was experimentally evaluated. Then, the capability of stiffness modulation of S-CCRs was studied. Tendon-driven S-CCRs are potentially capable of changing the stiffness with structural configuration, providing active stiffness control at the design level. Hence, in this study, the effects of the connection point location/angle of the supportive arms to the operative arm, as well as the imposed tendon limitations of the supportive arm on the stiffness of the robot, and consequently on the dynamic payload manipulation were studied and practical solutions were proposed to develop a simple but effective stiffness control mechanism. It showed that a typical S-CCR can increase its stiffness, just by a modular connector design up to 84% during manipulation, bringing a novel opportunity for stiffness modulation of CCRs.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"162 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140451528","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A Lunar Crewed Vehicle(LCV) with improved manoeuvrability, mobility and ride comfort is required for astronauts to conduct long-range scientific investigations and resource utilisation on the Moon's surface. This paper concentrates on designing a novel multifunctional compliant suspension for LCV to improve the above mentioned performance. Firstly, based on the requirement of high-speed traversing on the rough Lunar terrain, the required type of suspension motion is identified and the demanded suspension mechanism is obtained through structural evolution. Then, the kinematic analysis of the proposed suspension mechanism is conducted, and the steering kinematic model of the whole vehicle is established. A compliance analysis is completed, taking into account the actual design characteristics of the suspension mechanism. A multi-degree-of-freedom dynamics model of the vehicle is developed, considering both wheel-ground separation and the deformation of wheels and soil. Simulations are conducted to verify full vehicle performance with the proposed suspension, and the results reveal that the design features better mobility and comfort in rough terrain with minimum turning radius, peak longitudinal acceleration and root-mean-square reduced by 9.5%, 45.1%, and 21.4%, respectively
{"title":"Design and Analysis of a Lunar Crewed Vehicle with a Novel Versatile Compliant Suspension Mechanism","authors":"Haibo Gao, Runze Yuan, Zhen Liu, Renchao Lu","doi":"10.1115/1.4064814","DOIUrl":"https://doi.org/10.1115/1.4064814","url":null,"abstract":"\u0000 A Lunar Crewed Vehicle(LCV) with improved manoeuvrability, mobility and ride comfort is required for astronauts to conduct long-range scientific investigations and resource utilisation on the Moon's surface. This paper concentrates on designing a novel multifunctional compliant suspension for LCV to improve the above mentioned performance. Firstly, based on the requirement of high-speed traversing on the rough Lunar terrain, the required type of suspension motion is identified and the demanded suspension mechanism is obtained through structural evolution. Then, the kinematic analysis of the proposed suspension mechanism is conducted, and the steering kinematic model of the whole vehicle is established. A compliance analysis is completed, taking into account the actual design characteristics of the suspension mechanism. A multi-degree-of-freedom dynamics model of the vehicle is developed, considering both wheel-ground separation and the deformation of wheels and soil. Simulations are conducted to verify full vehicle performance with the proposed suspension, and the results reveal that the design features better mobility and comfort in rough terrain with minimum turning radius, peak longitudinal acceleration and root-mean-square reduced by 9.5%, 45.1%, and 21.4%, respectively","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"153 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140451676","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The Editor and Editorial Board of the Journal of Mechanisms and Robotics would like to thank all of the reviewers for volunteering their expertise and time reviewing manuscripts in 2023. Serving as reviewers for the journal is a critical service necessary to maintain the quality of our publication and to provide the authors with a valuable peer review of their work. Below is a complete list of reviewers for 2023. We would also like to acknowledge three outstanding Reviewers of the Year and nine Reviewers With Distinction.
{"title":"2023 Reviewers With Distinction Award","authors":"V. Krovi","doi":"10.1115/1.4064781","DOIUrl":"https://doi.org/10.1115/1.4064781","url":null,"abstract":"\u0000 The Editor and Editorial Board of the Journal of Mechanisms and Robotics would like to thank all of the reviewers for volunteering their expertise and time reviewing manuscripts in 2023. Serving as reviewers for the journal is a critical service necessary to maintain the quality of our publication and to provide the authors with a valuable peer review of their work. Below is a complete list of reviewers for 2023. We would also like to acknowledge three outstanding Reviewers of the Year and nine Reviewers With Distinction.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"92 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140454903","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, the grasping operation of CubeSat microsatellites is analyzed with a topological study of grasping strategies as functions of CubeSat geometry. Grasping conditions and limitations are introduced for the square-profiled bodies of CubeSats of 1U and 12U sizes. A topology search defines fingertips form and configurations to fulfill requirements, and operational limitations are presented in terms of geometry and dynamic parameters. The grasping performance then is analyzed in the side grasp and corner grasp cases and validated with a numerical case study.
{"title":"Performance Analysis of a Gripper for Microsatellite Berthing","authors":"Alexander Titov, Matteo Russo, Marco Ceccarelli","doi":"10.1115/1.4064765","DOIUrl":"https://doi.org/10.1115/1.4064765","url":null,"abstract":"\u0000 In this paper, the grasping operation of CubeSat microsatellites is analyzed with a topological study of grasping strategies as functions of CubeSat geometry. Grasping conditions and limitations are introduced for the square-profiled bodies of CubeSats of 1U and 12U sizes. A topology search defines fingertips form and configurations to fulfill requirements, and operational limitations are presented in terms of geometry and dynamic parameters. The grasping performance then is analyzed in the side grasp and corner grasp cases and validated with a numerical case study.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"3 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139776366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, the grasping operation of CubeSat microsatellites is analyzed with a topological study of grasping strategies as functions of CubeSat geometry. Grasping conditions and limitations are introduced for the square-profiled bodies of CubeSats of 1U and 12U sizes. A topology search defines fingertips form and configurations to fulfill requirements, and operational limitations are presented in terms of geometry and dynamic parameters. The grasping performance then is analyzed in the side grasp and corner grasp cases and validated with a numerical case study.
{"title":"Performance Analysis of a Gripper for Microsatellite Berthing","authors":"Alexander Titov, Matteo Russo, Marco Ceccarelli","doi":"10.1115/1.4064765","DOIUrl":"https://doi.org/10.1115/1.4064765","url":null,"abstract":"\u0000 In this paper, the grasping operation of CubeSat microsatellites is analyzed with a topological study of grasping strategies as functions of CubeSat geometry. Grasping conditions and limitations are introduced for the square-profiled bodies of CubeSats of 1U and 12U sizes. A topology search defines fingertips form and configurations to fulfill requirements, and operational limitations are presented in terms of geometry and dynamic parameters. The grasping performance then is analyzed in the side grasp and corner grasp cases and validated with a numerical case study.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"182 8","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139835997","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Inspired by lizards, a novel mobile platform with revolving linkage legs is proposed. The platform consists of four six-bar bipedal modules and it is designed for heavy transportation on unstructured terrain. The platform possesses smooth wheeled locomotion and obstacle adaptive legged locomotion to enhance maneuverability. The kinematics of the six-bar bipedal modules is analyzed using the vector loop method, subsequently ascertaining the drive scheme. The foot trajectory compensation curve is generated using the fixed axis rotation contour algorithm, which effectively reduces the centroid fluctuation and enabling seamless switching between wheels and legs. When encountering obstacles, the revolving linkage legs act as climbing arms, facilitating seamless integration of wheel, foot and arm. A physical prototype is developed to test the platform on three typical terrains: flat terrain, slope and vertical obstacle. The experimental results demonstrated the feasibility of the platform structure. The platform can climb obstacles higher than its own height without adding extra actuation.
{"title":"Integrated wheel-foot-arm design of a mobile platform with linkage mechanisms","authors":"Yuting Du, Q. Ruan, Yanan Yao","doi":"10.1115/1.4064741","DOIUrl":"https://doi.org/10.1115/1.4064741","url":null,"abstract":"\u0000 Inspired by lizards, a novel mobile platform with revolving linkage legs is proposed. The platform consists of four six-bar bipedal modules and it is designed for heavy transportation on unstructured terrain. The platform possesses smooth wheeled locomotion and obstacle adaptive legged locomotion to enhance maneuverability. The kinematics of the six-bar bipedal modules is analyzed using the vector loop method, subsequently ascertaining the drive scheme. The foot trajectory compensation curve is generated using the fixed axis rotation contour algorithm, which effectively reduces the centroid fluctuation and enabling seamless switching between wheels and legs. When encountering obstacles, the revolving linkage legs act as climbing arms, facilitating seamless integration of wheel, foot and arm. A physical prototype is developed to test the platform on three typical terrains: flat terrain, slope and vertical obstacle. The experimental results demonstrated the feasibility of the platform structure. The platform can climb obstacles higher than its own height without adding extra actuation.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":" 31","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139789080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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