Locomotion Analysis of Antiparallelogram Ring Four Array Mechanism

In comparison to the spatial center orthogonal polyhedron mechanism, the ring four-array mechanism with antiparallelogram hinged planes eliminates certain structural constraints from the polyhedron’s planes geometrically. This modification reduces some components of the fully enclosed closed-chain linkage mechanism from the mechanical perspective, leading to enhanced flexibility and greater motion space for the mechanism. This paper discusses the spherical motion mode of the mechanism based on the antiparallelogram ring four-array mechanism. Furthermore, a kinematic analysis of this motion mode is performed, providing the position coordinates for each point and the centroid of the mechanism. Additionally, the feasibility of rolling motion is assessed using the ZMP theory. Finally, motion simulation is conducted to confirm the spherical motion mode and validate the theoretical analysis.