Design, modeling and analysis of a novel self-crossing mechanism

Abstract

In this paper, a novel mobile mechanism based on Bennett mechanism is proposed, which can realize self-crossing locomotion. Unlike the most of the self-crossing mechanisms, the proposed mechanism can be assembled modularly, which has better environment adaptability. Firstly, on the basis of revealing mechanism of the self-crossing movement, configuration of the self-crossing mechanism is designed. The mechanism consists of n Bennett mechanisms connected in series by 2(n-1) 3R limbs that are symmetrically distributed on both sides of n Bennett mechanisms. Then, kinematic analysis of the mechanism is carried out based on finite and instantaneous screw theory, including mobility analysis and gait analysis. For the former, the number of degrees of freedom that the mechanism can achieve self-crossing locomotion is obtained, and for the latter, the trajectory of end point of the mechanism in the self-crossing movement is obtained. Finally, On the basis of theoretical analysis, simulation is conducted, and the results show that the proposed novel mechanism can realize self-crossing locomotion without interference, which verified the rationality of the mechanism. This paper provides a useful reference for the design and analysis of self-crossing mobile mechanism.