Single-loop full r joints of multi-mode omnidirectional ground mobile robot

Chunyan Zhang, Xinxing Jiang, Xiangyu Liu, Dan Zhang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

3 Citations (Scopus)


In order to solve the problem of loss of locomotion ability due to overturning and instability during the movement of a mobile robot, a multi-mode omnidirectional ground mobile robot with a deformable structure is proposed. Single-loop is used as the unit, and the three-direction geometric deformation can be realized by controlling its R joints in time sharing. The 4-RRRRRR parallel mobile robot formed by two closed-loops orthogonally has four different rolling modes, and each mode can be switched between each other. Once the robot is overturned and unstable during the movement, it can be deformed into other modes and continue to move. After the description of the robot, the DOF (degree-of-freedom) is calculated based on the screw theory. Gait planning and locomotion feasibility analysis indicate that the robot can realize four locomotion modes and their mutual switching. Finally, the simulations and prototype experiments are presented to verify the feasibility of the different locomotion modes and the ability of the obstacle crossing.

Original languageEnglish
Pages (from-to)2015-2026
Number of pages12
JournalTehnicki Vjesnik
Issue number6
Publication statusPublished - Nov 2021
Externally publishedYes


  • Multi-mode
  • Obstacle crossing
  • Omnidirectional mobile robot
  • Single-loop

ASJC Scopus subject areas

  • General Engineering


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