Design and stability analysis of the gear-type mobile mechanism with a single actuator.

Kan Shi, Jianglong Tang, Jiachao Liu, Liang Yuan

Abstract read

In one paragraph

Article in Scientific reports, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

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1citing papers in PubMed

–field-weighted citation impact

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3 · Its place in the literature

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1 citing paper in PubMed.

Systematic design and analytical evaluation of a novel multi-speed bicycle rear transmission hub with a permanent magnet assisted gear shifting mechanism.Scientific reports · 2026
Article

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5 · Who and what money

Authors and funding

4 authors.

Kan ShiCollege of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, 266590, China.

Jianglong TangCollege of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, 266590, China. jltang@sdust.edu.cn.

Jiachao LiuCollege of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, 266590, China.

Liang YuanCollege of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, 266590, China.

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

Gear mechanism transmits the motion and power of parallel axes, intersecting axes and staggered axes, which has been widely employed in production and life. Gear-type mobile mechanism is a type of robot that can achieve motion through gear transmission. Due to its unique motion mode, it can handle various tasks in certain unconventional environments, such as particularly steep surfaces. Cylindrical gear, bevel gear and non-cylindrical gear are taken as the main parts of the mechanism to form a novel research series, respectively. The models of gear-type mobile mechanism are established in this paper, and the degrees of freedom of the mechanism are briefly calculated based on the screw theory. Simultaneously, the influence of centroid trajectory on motion stability is discussed to solve the possible problem that opposite rotation occur during the movement. Furthermore, the trajectory model of zero moment point is calculated considering the motion of the gear-type mobile mechanism. After that, the simulation and experimental analysis of its motion capability show that the gear-type mobile mechanism has excellent characteristics in stability, flexibility and continuity.

Identifiers

PMID38253638

DOI10.1038/s41598-024-51248-8

PMCPMC10803332

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.