Kinematics analysis and optimization of a multi-mode mobile parallel mechanism

Chunyan Zhang, Mingjuan Xie, Dan Zhang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

1 Citation (Scopus)


This paper aims to disclose the kinematics and optimize the design of multi-mode mobile parallel mechanism. To this end, a multi-mode mobile parallel mechanism was designed based on single-loop planar 4R systems. The horizontally symmetric mechanism is controlled by two motors: the mechanism can switch freely among different modes of movements (e.g. sliding, turning and rolling) by changing the input angles of the two motors. Based on the mechanism structure, the author analysed the degrees of freedom (DOFs) and kinematics of each mode, and optimized the stability of the mechanism. The results show that the mechanism is more stable at a short rod length and small rotating angle, when its width is constant. Finally, the theoretical correctness of the mechanism was verified through simulation and prototype test. The research findings provide a valuable reference for similar studies on multi-mode mobile parallel mechanism, and lay the theoretical basis for the application of mobile robots in various fields.

Original languageEnglish
Pages (from-to)276-284
Number of pages9
JournalTehnicki Vjesnik
Issue number1
Publication statusPublished - 2021
Externally publishedYes


  • Degrees of freedom (DOFs)
  • Kinematics analysis
  • Mobile parallel mechanism
  • Single-loop planar 4R system

ASJC Scopus subject areas

  • General Engineering


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