Ground mobile Bennett mechanism

被引：0
|
作者：
Wang, Zhirui [1 ]
Yao, Yan-an [1 ]
Liu, Chao [1 ]
机构：
[1] Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China
来源：
TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING | 2019年 / 43卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Bennett mechanism; single-DOF mobile mechanism; tumbling gait;
D O I：
10.1139/tcsme-2017-0126
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents a novel application of the well-known single degree of freedom Bennett mechanism. By optimizing the link's shape and the weight distribution of the Bennett mechanism, we put forward a ground mobile mechanism that can move in a constant direction and change its moving direction with only one actuator. A type of tumbling gait is proposed and kinematic and dynamic analyses of the gait are carried out. Finally, a series of experiments are performed on a manufactured prototype. The results verify the tumbling gait and functionality of the mobile mechanism.
引用
收藏
页码：69 / 79
页数：11
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