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The purpose of this paper is to propose an overall deformation rolling mechanism based on double four-link mechanism. The double quadrilateral mobile mechanism (DQMM) has two switchable working modes which can be used to traverse different terrains or climb over obstacles.

The main body of the DQMM is composed of a double four-link mechanism which sharing a public link and two symmetrical steering platforms which placed at both ends of the four-link mechanism. The steering platforms give the DQMM not only steering ability but also reconnaissance ability which can be achieved by carrying sensors such as cameras on steering platforms. By controlling the deformation of the DQMM, it can switch between two working modes (tracked rolling mode and obstacle-climbing mode) to achieve the functions of rolling and obstacle-climbing. Dynamic simulation model was established to verify the feasibility.

Based on the kinematics analysis and simulation results of the DQMM, its moving function is realized by the tracked rolling mode, and the obstacle-climbing mode is used to climb over obstacles in structured terrains such as continuous stairs. The feasibility of the two working modes is verified on a physical prototype.

The work of this paper is a new exploration of applying “overall closed moving linkages mechanism” to the area of small mobile mechanisms. The adaptability of different terrains and the ability of obstacle-climbing are improved by the combination of multi-modes.

The purpose of this paper is to introduce a tetrahedral mobile robot with only revolute joints (TMRR). By using rotation actuators, the mechanism of the robot gains favorable working space and eliminates the engineering difficulties caused by the multilevel extension compared with liner actuators. Furthermore, the rolling locomotion is improved to reduce displacement error based on dynamics analysis.

The main body of deforming mechanism with a tetrahedral exterior shape is composed of four vertexes and six RRR chains. The mobile robot can achieve the rolling locomotion and reach any position on the ground by orderly driving the rotation actuators. The global kinematics of the mobile modes are analyzed. Dynamics analysis of the robot falling process is carried out during the rolling locomotion, and the rolling locomotion is improved by reducing the collision impulse along with the moving direction.

Based on global kinematics analysis of TMRR, the robot can realize the continuous mobility based on rolling gait planning. The main cause of robot displacement error and the corresponding improvement locomotion are gained through dynamic analysis. The results of the theoretical analysis are verified by experiments on a physical prototype.

The work introduced in this paper is a novel exploration of applying the mechanism with only revolute joints to the field of tetrahedral rolling robots. It is also an attempt to use the improved rolling locomotion making this kind of mobile robot more practical. Meanwhile, the reasonable engineering structure of the robot provides feasibility for load carrying.

The purpose of this paper is to propose a deformable two-wheel-like mobile mechanism based on overconstrained mechanism, with the abilities of fast rolling and obstacle surmounting. The drive torque of the multi-mode motions is generated by self-deformation. Moreover, the analyses of feasibility and locomotivity of two mobile modes are presented.

The main body of the two-wheel-like mobile mechanism is a kind of centrally driven 4 R linkages. The mobile mechanism can achieve the capabilities of fast rolling and obstacle surmounting through integrating two mobile modes (spherical-like rolling mode and polyhedral-like obstacle-surmounting mode) and can switch to the corresponding mode to move or surmount obstacles. The mobility and kinematics of the mobile modes are analyzed.

Based on the results of kinematics analysis and dynamics analysis of the wheel-like mechanism, the spherical-like rolling mode has the capability of fast rolling, and the polyhedral-like obstacle-surmounting mode has the capability of surmounting different obstacle heights by two submodes (quasi-static obstacle-surmounting submode and dynamic obstacle-surmounting submode). The proposed concept is verified by experiments on a physical prototype.

The work presented in this paper is a novel exploration to apply bar linkages in the field of scout. The two-wheel-like mobile mechanism improves the torque imbalance of bar linkages by centrally driven method, removes the rear support structures of the traditional two-wheeled mechanisms by self-deformation and increases the height of obstacle surmounting by mode switching angle.

The purpose of this paper is to put forward a rolling assistant robot with two rolling modes, and the multi-mode rolling motion strategy with path planning algorithm, which is suitable to this multi-mode mobile robot, is proposed based on chessboard-shaped grid division (CGD).

Based on the kinematic analysis and motion properties of the mobile parallel robot, the motion strategy based on CGD path planning algorithm of a mobile robot with two rolling modes moving to a target position is divided into two parts, which are local self-motion planning and global path planning. In the first part, the mobile parallel robot can move by switching and combining the two rolling modes; and in the second part, the specific algorithm of the global path planning is proposed according to the CGD of the moving ground.

The assistant robot, which is a novel 4-RSR mobile parallel robot (where R denotes a revolute joint and S denotes a spherical joint) integrating operation and rolling locomotion (Watt linkage rolling mode and 6R linkage rolling mode), can work as a moving spotlight or worktable. A series of simulation and prototype experiment results are presented to verify the CGD path planning strategy of the robot, and the performance of the path planning experiments in simulations and practices shows the validation of the path planning analysis.

The work presented in this paper is a further exploration to apply parallel mechanisms with two rolling modes to the field of assistant rolling robots by proposing the CGD path planning strategy. It is also a new attempt to use the specific path planning algorithm in the field of mobile robots for operating tasks.

The purpose of this paper is to propose an agile assistant robot to be used as a mobile partner with two rotational motions and one translational motion. This robot possesses the rolling function and three operating abilities to assistant human beings in the industrial environment.

The main body of the robot is a typical 4-RSR (where R denotes a revolute joint and S denotes a spherical joint) parallel mechanism. The mechanism can reach any position on the ground by two rolling modes (the equivalent Watt linkage rolling mode and the equivalent 6R linkage rolling mode), and the robot can work as a spotlight or a worktable in operating modes at the target location. The mobility, rolling modes, operating modes and kinematics are analyzed.

Based on the results of kinematics of this assistant robot, the upper platform of the 4-RSR rolling mechanism has two rotational motions and one translational motion which can be used in the industry. The proposed concept is verified by experiments on a physical prototype.

This paper also discusses the application to industrial cases where cooperation between workers and robots is required.

The work presented in this paper is a novel exploration to apply parallel mechanisms to the field of assistant rolling robots. It is also a new attempt to use the rolling mechanism in the field of mobile operating robots for industry tasks.