0

Full Content is available to subscribers

Subscribe/Learn More  >

A Rolling Parallelogram Driven by a Crank-Rocker Mechanism

[+] Author Affiliations
Chang-huan Liu, Yan-an Yao

Beijing Jiaotong University, Bejing, China

Paper No. DETC2011-47711, pp. 607-613; 7 pages
doi:10.1115/DETC2011-47711
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME

abstract

Normally, one link of the four-bar linkage is fixed to the frame; another supplies the input; the motion of the third one with respect to the base is the output. A novel application of the four-bar linkage is proposed that a parallelogram mechanism is applied to be a rolling robot for which there is neither a constant base nor a constant output. Four sides take turns to be the support link and an adjacent link of the support one is regarded as the output in turn. The rolling motion is actuated by an internal angle change which is supplied by the rocker oscillation of a crank-rocker mechanism, not a motor directly. The unidirectional rotation of the motor simplifies the control system. A planar 4R parallelogram is suggested to roll straight under the driving of a planar 4R crank-rocker mechanism. For turning, a spatial RSRS quadrilateral is presented to roll and turn driven by a spatial RSUS crank-rocker mechanism. The principle of tipping and rolling are explained. Simulations testify the parameter design of the driving rank-rocker mechanism. An experimental prototype is fabricated to verify the feasibility of the concept.

Copyright © 2011 by ASME
Topics: Mechanisms

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In