{"title":"基于反平行四边形和平行四边形机构的多模式移动机构。","authors":"Xuemin Sun, Biao Yu, Ruiming Li, Kan Shi","doi":"10.1038/s41598-025-13169-y","DOIUrl":null,"url":null,"abstract":"<p><p>Multi-link mechanisms can adapt to different terrains through deformation, and have certain advantages in terrain adaptability and obstacle overcoming. Therefore, this paper designs a kind of multi-mode mobile mechanism with multi-link based on two anti-parallelogram mechanism units and two parallelogram mechanism units. Firstly, the morphological change characteristics of parallelogram mechanism unit and anti-parallelogram mechanism unit are analyzed, and then obtain the construction method of the multi-mode mobile mechanism. Secondly, the motion screw of the initial position of the mechanism and the screw constraint topological diagram are obtained through screw theory and graph theory, and then the degrees of freedom (DOF), namely the number of drives, are calculated. Then, based on the DOF and the symmetrical characteristics of the multi-mode mobile mechanism, the motion feasibility and motion characteristics of the three motion modes (parallel-like rolling, anti-parallel-like tumbling, and parallel-like creeping) are analyzed. Finally, a 3D printing principle prototype model is made to verify the feasibility of the multi-mode motion and the correctness of the analysis results.</p>","PeriodicalId":21811,"journal":{"name":"Scientific Reports","volume":"15 1","pages":"27505"},"PeriodicalIF":3.9000,"publicationDate":"2025-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12304319/pdf/","citationCount":"0","resultStr":"{\"title\":\"Multi-mode mobile mechanism based on anti-parallelogram and parallelogram mechanisms.\",\"authors\":\"Xuemin Sun, Biao Yu, Ruiming Li, Kan Shi\",\"doi\":\"10.1038/s41598-025-13169-y\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>Multi-link mechanisms can adapt to different terrains through deformation, and have certain advantages in terrain adaptability and obstacle overcoming. Therefore, this paper designs a kind of multi-mode mobile mechanism with multi-link based on two anti-parallelogram mechanism units and two parallelogram mechanism units. Firstly, the morphological change characteristics of parallelogram mechanism unit and anti-parallelogram mechanism unit are analyzed, and then obtain the construction method of the multi-mode mobile mechanism. Secondly, the motion screw of the initial position of the mechanism and the screw constraint topological diagram are obtained through screw theory and graph theory, and then the degrees of freedom (DOF), namely the number of drives, are calculated. Then, based on the DOF and the symmetrical characteristics of the multi-mode mobile mechanism, the motion feasibility and motion characteristics of the three motion modes (parallel-like rolling, anti-parallel-like tumbling, and parallel-like creeping) are analyzed. Finally, a 3D printing principle prototype model is made to verify the feasibility of the multi-mode motion and the correctness of the analysis results.</p>\",\"PeriodicalId\":21811,\"journal\":{\"name\":\"Scientific Reports\",\"volume\":\"15 1\",\"pages\":\"27505\"},\"PeriodicalIF\":3.9000,\"publicationDate\":\"2025-07-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12304319/pdf/\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Scientific Reports\",\"FirstCategoryId\":\"103\",\"ListUrlMain\":\"https://doi.org/10.1038/s41598-025-13169-y\",\"RegionNum\":2,\"RegionCategory\":\"综合性期刊\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"MULTIDISCIPLINARY SCIENCES\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Scientific Reports","FirstCategoryId":"103","ListUrlMain":"https://doi.org/10.1038/s41598-025-13169-y","RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"MULTIDISCIPLINARY SCIENCES","Score":null,"Total":0}
Multi-mode mobile mechanism based on anti-parallelogram and parallelogram mechanisms.
Multi-link mechanisms can adapt to different terrains through deformation, and have certain advantages in terrain adaptability and obstacle overcoming. Therefore, this paper designs a kind of multi-mode mobile mechanism with multi-link based on two anti-parallelogram mechanism units and two parallelogram mechanism units. Firstly, the morphological change characteristics of parallelogram mechanism unit and anti-parallelogram mechanism unit are analyzed, and then obtain the construction method of the multi-mode mobile mechanism. Secondly, the motion screw of the initial position of the mechanism and the screw constraint topological diagram are obtained through screw theory and graph theory, and then the degrees of freedom (DOF), namely the number of drives, are calculated. Then, based on the DOF and the symmetrical characteristics of the multi-mode mobile mechanism, the motion feasibility and motion characteristics of the three motion modes (parallel-like rolling, anti-parallel-like tumbling, and parallel-like creeping) are analyzed. Finally, a 3D printing principle prototype model is made to verify the feasibility of the multi-mode motion and the correctness of the analysis results.
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