Articles | Volume 16, issue 2
https://doi.org/10.5194/ms-16-851-2025
https://doi.org/10.5194/ms-16-851-2025
Research article
 | 
18 Nov 2025
Research article |  | 18 Nov 2025

Design and analysis of mobile mechanism based on three-dimensional Hilbert curve

Kan Shi, Ran Wang, Jiachao Liu, Haidong Wang, and Dongbin Zhang

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Cited articles

Abrahantes, M., Silvert, A., Wendtt, L., and Littiot, D.: Construction and control of a 4-tetrahedron walker robot, 2008 40th Southeastern Symposium on System Theory (SSST), New Orleans, LA, USA, 343–346, https://doi.org/10.1109/ssst.2008.4480251, 2008. 
Bian, H., Li, Z., and Meng, C.-Q.: Design and motion analysis of a new wheeled rolling robot, Mech. Sci., 15, 431–444, https://doi.org/10.5194/ms-15-431-2024, 2024. 
Böhm, V., Kaufhold, T., Schale, F., and Zimmermann, K.: Spherical mobile robot based on a tensegrity structure with curved compressed members, 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, AB, Canada, 12–15 July 2016, 1509–1514, https://doi.org/10.1109/aim.2016.7576984, 2016. 
Chang, W., Chang, C., H, J., and Lin, P.: Design and implementation of a novel spherical robot with rolling and leaping capability, Mech. Mach. Theory, 171, 104747, https://doi.org/10.1016/j.mechmachtheory.2022.104747, 2022. 
Chen, J., Yu, L., and Wang, W.: Hilbert space filling curve based scan-order for point cloud attribute compression, IEEE Trans. Image Process., 31, 4609-4621, https://doi.org/10.1109/tip.2022.3186532, 2022. 
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Short summary
A novel moving mechanism based on three-dimensional Hilbert curves is proposed, combining mathematical curves with mechanical design. The Hilbert curve first-order mobile mechanism (HFCM) moves through seven actuated joints and is analysed for stability and kinematics. Its ability to walk statically, rotate, and climb stairs is experimentally verified.

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