Abstract

This paper proposes a novel cube mechanism that is capable of probabilistic rolling locomotion. The mechanism composes of 8 vertex modules and 12 links. A kinematic model is presented, then the deformation and locomotion characters of the mechanism are demonstrated by kinematics analysis. So, we know that there are two probable orientations in the rolling locomotion. This stochastic process accords with Bernoulli experiment in ideal condition. The stability and the tumbling condition are discussed by the rolling locomotion analysis. The dynamics model is built and the locomotion simulation is done. The results show that the rolling locomotion can be realized with alternate two types of gaits which are advancing gait and turning gait. In both of advancing gait and turning gait, the orientations are probabilistic. A prototype is manufactured, the advancing and turning function is verified through the tests.

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