Abstract
A novel application of the well-known single degree-of-freedom (DOF) Bricard mechanism is proposed in this paper. By optimizing the links’ shape and installing motors reasonably, we put forward a ground mobile Bricard mechanism that can move in a constant direction and change its moving direction by using its singular position. The types of kowtowing and spinning modes (dual-mode) are carried out, and the gaits are planned. Finally, the motion simulation and prototype experiment testify that the analyses are correct and the idea of the dual-mode ground mobile Bricard mechanism is feasible.
Issue Section:
Research Papers
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