This paper proposes a novel morphological modular robot that is capable of switching
multiple directions and rolling locomotion. The mechanism of the robot resembles a …

The purpose of this paper is to put forward a novel deformable tetrahedron rolling
mechanism (DTRM). This new reconfigurable mobile mechanism with the external …

This paper proposes a novel hexagon rolling mechanism, which is composed of inner
multiple crank links and outer six-bar chain, driven by a center-arranged actuator (CAA). The …

Purpose 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 …

Compared with the traditional mobile robots, the new concept mobile robots have greater
deformation capability and richer mobile gait; similarly, they have a better capability to adapt …

Purpose 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 …

This paper presents a novel underactuated tetrahedral mobile robot with 12 degrees-of-
freedom (DOFs). The robot contains four vertices and six URU chains (where U represents a …

Most driving torques in serial industrial robots are used to overcome the weight of the robot.
Although actuators account for a large proportion of the total mass of a robot, they have yet …

Purpose 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) …

In this paper, a multi-mode mobile parallel mechanism with over-constrained branches is
designed to explore the influence of over-constrained branches on the stability of the …