In this paper, a rolling mechanism constructed by a spatial 8-bar linkage is proposed. The eight links are connected with eight revolute joints, forming a single closed-loop with two degrees of freedom (DOF). By kinematic analysis, the mechanism can be deformed into planar parallelogram or spherical 4-bar mechanism (SFM) configuration. Furthermore, this mechanism can be folded onto a plane at its singularity positions. The rolling capability is analyzed based on the zero-moment-point (ZMP) theory. In the first configuration, the mechanism can roll along a straight line. In the second configuration, it can roll along a polygonal region and change its rolling direction. By alternatively choosing one of the two configurations, the mechanism has the capability to roll along any direction on the ground. Finally, a prototype was manufactured and some experiments were carried out to verify the functions of the mechanism.
A Rolling 8-Bar Linkage Mechanism
Manuscript received May 23, 2013; final manuscript received October 26, 2014; published online March 11, 2015. Assoc. Editor: Xilun Ding.
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Tian, Y., Yao, Y., and Wang, J. (November 1, 2015). "A Rolling 8-Bar Linkage Mechanism." ASME. J. Mechanisms Robotics. November 2015; 7(4): 041002. https://doi.org/10.1115/1.4029117
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