A Schatz-based omnidirectional mobile mechanism with Oloid-like paddlewheels

In this paper, a novel Schatz-based omnidirectional mobile mechanism adopting Oloid-like paddlewheels with a total of four degrees of freedom (DOFs) is proposed. It is composed of four diagonally arranged Schatz linkages, and taking the advantage of Oloid surface, the link of each Schatz linkage is designed as the Oloid-like shape to adapt to variable terrain. Then according to the kinematics of the mechanism, the omnidirectional locomotion gaits, including the straight-going gait, the lateral moving gait, the oblique moving gait and the turning gait, are designed and analyzed. Based on these basic gaits, the moving performance of the mechanism in slope climbing, stair climbing and water stroking is analyzed. Finally, a prototype is manufactured and moving experiments are carried out to verify the locomotion performance of the mechanism.