Aiming at acquiring large deformation capability, powerful strength output, rapid response, and flexible locomotion, a novel three degrees-of-freedoms (DOFs) rolling parallel robot is proposed. This robot adopts the parallel mechanism, and its structure can guarantee the stiffness of the robot. The large capability of deformation can be obtained by taking advantage of the antiparallelogram mechanism with an enlarging mechanism of extension ratio. Hydraulic actuation is used for the telescopic input, which can increase the locomotion flexibility and the strength output of the robot. Rolling motion of the robot can be reached through planning and controlling the relations between the center of mass (CM) of the robot and the supporting region. The mechanical construction and configuration of the robot are described, the rolling gaits are planned, and the optimal locomotion law is given. Based on the law, the kinematic model of the robot is created. The kinematic model is validated by the given numerical example. The locomotion feasibility of two locomotion periods is analyzed. A set of experimental tests on the hydraulic system and the robotic system are performed. Results of four rolling experiments verify the reliability of the experimental system and the rapid response capability and also verify the validity and feasibility of the theoretical analysis and the rolling locomotion.

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Keywords Control, Hydraulic actuation, Mechanism design, Mobile robots, Parallel platforms
Persistent URL
Journal Journal of Mechanisms and Robotics
Shen, H. (Haikuo), Zhang, K. (Kaihua), & Nejati, A. (Afsoon). (2017). Research on rolling parallel robot with hydraulic driven antiparallelogram chain. Journal of Mechanisms and Robotics, 9(1). doi:10.1115/1.4035543