In this paper,a new single-DOF(degree of freedom)spatial five-link RPRPS mechanism is proposed.The mechanism is designed to develop a new ground mechanism that can move in a consistent direction and change direction u...In this paper,a new single-DOF(degree of freedom)spatial five-link RPRPS mechanism is proposed.The mechanism is designed to develop a new ground mechanism that can move in a consistent direction and change direction using only one actuator.When the actuator rotates in one direction,the ground mobile mechanism can perform a“crawling”motion in a straight line.When the actuator rotates reversely in a special position,it can change the direction of“crawling”motion.Firstly,the concept of the RPRPS mechanism is described,explaining the connection relationships and grounding points between each link.The degree of freedom of the RPRPS mechanism obtained through mobility analysis is 1.Subsequently,the locomotion of the RPRPS mechanism in crawling and turning modes is analyzed separately.Describing the RPRPS mechanism’s movement path through a triangular mesh formed during landing,obtaining the RPRPS mechanism’s cycle step size and steering angle.The RPRPS mechanism’s movement path is described through a triangular mesh formed landing during,from which the mechanism’s cycle step size and steering angle are obtained.Feasibility analysis of turning motion through the positional relationship of COG point on different support surfaces of the RPRPS mechanism.A physical prototype of the RPRPS mechanism is developed,and experiments are conducted on both crawling and turning modes.The results are consistent with the theoretical analysis and verify the feasibility of the proposed mechanism.展开更多
基金Support by Fundamental Research Funds for the Central Universities of China(Grant No.2022JBZY026).
文摘In this paper,a new single-DOF(degree of freedom)spatial five-link RPRPS mechanism is proposed.The mechanism is designed to develop a new ground mechanism that can move in a consistent direction and change direction using only one actuator.When the actuator rotates in one direction,the ground mobile mechanism can perform a“crawling”motion in a straight line.When the actuator rotates reversely in a special position,it can change the direction of“crawling”motion.Firstly,the concept of the RPRPS mechanism is described,explaining the connection relationships and grounding points between each link.The degree of freedom of the RPRPS mechanism obtained through mobility analysis is 1.Subsequently,the locomotion of the RPRPS mechanism in crawling and turning modes is analyzed separately.Describing the RPRPS mechanism’s movement path through a triangular mesh formed during landing,obtaining the RPRPS mechanism’s cycle step size and steering angle.The RPRPS mechanism’s movement path is described through a triangular mesh formed landing during,from which the mechanism’s cycle step size and steering angle are obtained.Feasibility analysis of turning motion through the positional relationship of COG point on different support surfaces of the RPRPS mechanism.A physical prototype of the RPRPS mechanism is developed,and experiments are conducted on both crawling and turning modes.The results are consistent with the theoretical analysis and verify the feasibility of the proposed mechanism.
