Design and kinematic analysis of new multi-mode mobile parallel mechanism with deployable platform

This study aims to make the mobile robot better adapt to the patrol and monitoring in industrial field substation area, a multi-mode mobile carrying mechanism which can carrying data collector, camera and other equipment is designed.

Based on the geometric axis analysis and interference analysis, the multi-mode mobile carrying mechanism is designed. The screw constraint topological theory and zero-moment point (ZMP) theory is used to kinematic analysis in mechanism mobile process.

The mobile carrying mechanism can realize the folding movement, hexagonal rolling and quadrilateral rolling movement. A series of simulation and prototype experiment results verify the feasibility and actual error of the design analysis.

The work of this paper provides a mobile carrying mechanism for carrying different data acquisition equipment and surveillance camera in industrial field substation zone. It has excellent folding performance and mobile capabilities. The mobile carrying mechanism reduces the workload of human being and injuries suffered by workers in industrial substation area.