抄録
This paper proposes the parallel mechanism mobile robot whose body is a parallel mechanism. Its notable features are that the platform of its parallel mechanism body can be kept horizontal in rough terrain and that it can elevate another mobile robot to a high level to which the latter alone cannot ascend. We develop a four-DOF parallel mechanism mobile robot in particular. We experimentally verify that the robot can elevate another mobile robot of almost the same weight by making use of the kinematic singularity of the parallel mechanism.
