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Dynamic rolling analysis of triangular-bipyramid robot

Published online by Cambridge University Press:  19 March 2014

Yaobin Tian  and
Yan-An Yao
Yaobin Tian
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P. R. China
Yan-An Yao*
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P. R. China
*
*Corresponding author. E-mail: yayao@center.njtu.edu.cn
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Summary

In this paper a rolling robot resembling the shape of a triangular-bipyramid is proposed. The robot has three degrees of freedom and is formed by connecting two tripod mechanisms with three spherical joints. By kinematic analysis, the robot can be viewed as a planar four-bar linkage. Further, its dynamic rolling ability is discussed by Zero Moment Point (ZMP) analysis. We show that the robot has the capability to roll, adjust its step length, and switch rolling directions. These functions are verified by a series of simulations with a CAD (computer-aided design) model and experiments with a prototype.

Keywords

Rolling robotParallel mechanismTriangular-bipyramidZMP analysis
Type
Articles
Information
Robotica , Volume 33 , Issue 4 , May 2015 , pp. 884 - 897
Copyright
Copyright © Cambridge University Press 2014 

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