Design and Control of a Double-Sarrus Mobile Robot

Abstract

Origami robot nowadays is used widely in both industrial and social life. This paper proposes a new origami robot model that is transformable and portable: Double-Sarrus Mobile robot. The Sarrus linkage is a mechanical linkage with 1 degree-of-freedom that can change a circular motion to a linear motion and vice versa. The new design takes advantage of Sarrus linkage to create a robot that can transform between a mobile box-shaped robot and a flat sleeping configuration with only one controlled motion. Therefore, only one motor is required for the transformation of the robot, making the robot lightweight and portable. The mechanism of robot is assembled by combining two Sarrus linkages. This paper analyzes the kinematic properties of double-connective-Sarrus linkages. Finally, robot’s motion simulations are presented by MATLAB.