4R and 5R Parallel Mechanism Mobile Robots

Tasuku Yamawaki, Osamu Mori, Toru Omata
2005 Journal of the Robotics Society of Japan  
We have proposed a self-reconÞgurable parallel robot, which can be conÞgured to 4R and 5R closed kinematic chains. This paper proposes a parallel mechanism mobile robot by mounting it on a crawler mechanism. The combined mobile robot can gain some useful functionalities from the advantage of its parallel mechanism other than just locomotion, such as getting over a bump by control of its center of gravity and carrying an object by making use of its shape. Furthermore, the robot can form
more » ... t can form three-dimensional structures with other such robots and reach a certain height in which the single one cannot. We have developed two such robots that are self-contained. This paper analyzes the motions of the functionalities and veriÞes them experimentally using the robots.
doi:10.7210/jrsj.23.213 fatcat:kf7b7zaflzfzpb6l4tz2tmhfk4