Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 15, issue 2
Articles | Volume 15, issue 2
https://doi.org/10.5194/ms-15-633-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-15-633-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 15, issue 2
Research article
 | 
25 Nov 2024
Research article |  | 25 Nov 2024

Gait planning of a 4–5R rolling mechanism based on the planar 6R single-loop chain

Qing Liu, Qianqian Zhang, Shouzhen Kang, Ziyi Pei, Jialei Li, Yezhuo Li, Yue Yan, Yuhao Liang, and Xinyu Wang

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Latest update: 11 Sep 2026
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Short summary
In this paper, based on the spatial extension design of a planar 6R single-loop chain, a 4–5R rolling mechanism is proposed, and a set of gait analysis and locomotion strategies are planned for the mechanism. The correctness and feasibility of the theoretical analysis are verified through structural dynamics simulation and prototype design. The theoretical and engineering design basis is laid for the research of the new planar single-loop chain robot.
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