Ground mobile Bennett mechanism

Abstract

This paper presents a novel application of the well-known single degree of freedom Bennett mechanism. By optimizing the link’s shape and the weight distribution of the Bennett mechanism, we put forward a ground mobile mechanism that can move in a constant direction and change its moving direction with only one actuator. A type of tumbling gait is proposed and kinematic and dynamic analyses of the gait are carried out. Finally, a series of experiments are performed on a manufactured prototype. The results verify the tumbling gait and functionality of the mobile mechanism.