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

Viewed

Total article views: 197 (including HTML, PDF, and XML)
HTML PDF XML Total BibTeX EndNote
146 47 4 197 11 6
  • HTML: 146
  • PDF: 47
  • XML: 4
  • Total: 197
  • BibTeX: 11
  • EndNote: 6
Views and downloads (calculated since 13 Jan 2025)
Cumulative views and downloads (calculated since 13 Jan 2025)

Viewed (geographical distribution)

Total article views: 191 (including HTML, PDF, and XML) Thereof 191 with geography defined and 0 with unknown origin.
Country # Views %
  • 1
1
 
 
 
 
Latest update: 23 Apr 2025
Download
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.
Read more
Share