@inproceedings{baa2d395d65a432fa30f7ea4aa1df25e,
title = "A deformable rolling robot based on 3-URU parallel mechanism",
abstract = "In this paper, a novel deformable rolling robot constructed by a 3-URU parallel mechanism is presented. The robot contains two equal node elements and three equal chains. Each of the chains is composed of two links and three joints (a revolute (R) in the middle of the chain and two universal (U) joints ant the two ends of the chain). The robot has 3 degrees of freedom, and three actuators are mounted at the three R joints to control the motion. By kinematics analysis, the robot can be folded into a narrow structure, which is useful for storing and carrying. Further, the rolling motion and gaits analysis are discussed and simulated with a 3D model. Finally, a prototype was manufactured and some experiments were carried out to verify the functions of the robot.",
keywords = "Mobile robot, Rolling motion, URU chain",
author = "Yanling Hao and Yaobin Tian and Jilong Xie and Yao, \{Yan An\}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",
year = "2015",
month = mar,
day = "2",
doi = "10.1109/WCICA.2014.7053263",
language = "英语",
series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "March",
pages = "3309--3314",
booktitle = "Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014",
address = "美国",
edition = "March",
}