Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 16, issue 1
Articles | Volume 16, issue 1
https://doi.org/10.5194/ms-16-25-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-16-25-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 16, issue 1
Research article
 | 
13 Jan 2025
Research article |  | 13 Jan 2025

An anti-parallelogram ring four-array rolling mechanism with multiple rolling gaits for mobile robots

Zhiyuan Xun, Guanglong Du, Wenbo Zhu, Wei Yu, Changjiang Liu, Jun Wang, and Quanlong Guan

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Latest update: 05 Sep 2026
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Short summary
This paper presents a ring four-array rolling mechanism consisting of four anti-parallelogram mechanisms with revolute joints. The mechanism is connected by four anti-parallelograms in a looped configuration and has a not-totally-closed ring shape. The mechanism has planar and spherical patterns of locomotion: the planar pattern locomotion includes the parallelogram rolling gait and the anti-parallelogram tumbling gait and the spherical pattern locomotion includes the spherical rolling gait.
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