Abstract
This paper proposes the design and analysis of a size-tunable tetrahedron rolling mechanism, which has five-degrees-of-freedoms (DOF). Aiming to pass complex terrains, the mechanism consists of four deployable nodes and six planar deployable RRR chains, which are composed of scissor-like elements. Consequently, the radially reciprocating motion of the scissor-like elements enables the size of the mechanism to be adjustable on a large scale. The constraint equations of the mechanism are carried out based on the geometric parameters. The dynamics of the mechanism are then analyzed using the Natural Coordinates Method and the Jourdain Principle. In addition, the dynamic rolling gait of the mechanism is designed in various sizes based on the dynamic analysis. The validity of the theoretical analysis and the functionality of the mechanism is verified by a manufactured prototype, whose practical experiments are compared with the simulation.
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