The dual-rod slider rocker mechanism is equivalent to two traditional single-rod sliders that share a common rocker, where the sliders translate along two opposite directions. Unlike a single-rod system, the dual-rod mechanism is unique, in the sense that the two sliders do not translate the same distance for the same rocker rotation. In this paper, an optimal kinematic and dynamic analysis of the dual-rod slider rocker mechanism is presented. This analysis is supplemented by an application to modular robotic coupling, in which the mechanism is employed by a torque recirculation scheme to enable three independent modes of operation via a single motor. Simulation, finite element analysis, and experimental results validate the kinematic properties of this mechanism, the rigidity of the proposed docking interface, and its three modes of operation. We conclude that the compactness of the dual-rod mechanism, and its unique kinematic properties, exhibits a broad industrial value for applications where size and weight are a critical design constraint, such as space and mobile robotics.
Skip Nav Destination
Article navigation
February 2013
Research-Article
On the Dual-Rod Slider Rocker Mechanism and Its Applications to Tristate Rigid Active Docking
Pinhas Ben-Tzvi
Pinhas Ben-Tzvi
1
e-mail: bentzvi@gwu.edu
Washington, DC 20052
Robotics and Mechatronics Laboratory
,The George Washington University
,Washington, DC 20052
1Corresponding author.
Search for other works by this author on:
Paul M. Moubarak
e-mail: paul4@gwu.edu
Pinhas Ben-Tzvi
e-mail: bentzvi@gwu.edu
Washington, DC 20052
Robotics and Mechatronics Laboratory
,The George Washington University
,Washington, DC 20052
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received May 3, 2012; final manuscript received November 25, 2012; published online January 24, 2013. Assoc. Editor: Anupam Saxena.
J. Mechanisms Robotics. Feb 2013, 5(1): 011010 (10 pages)
Published Online: January 24, 2013
Article history
Received:
May 3, 2012
Revision Received:
November 25, 2012
Citation
Moubarak, P. M., and Ben-Tzvi, P. (January 24, 2013). "On the Dual-Rod Slider Rocker Mechanism and Its Applications to Tristate Rigid Active Docking." ASME. J. Mechanisms Robotics. February 2013; 5(1): 011010. https://doi.org/10.1115/1.4023178
Download citation file:
Get Email Alerts
Announcing the Journal of Mechanisms and Robotics 2023 Best Paper Award
J. Mechanisms Robotics
An Undulating Kirigami Pattern with Enhanced Tear Strength
J. Mechanisms Robotics
Related Articles
Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism
J. Mechanisms Robotics (February,2024)
Kinematic and Dynamic Analyses of Tripod Sliding Universal Joints
J. Mech. Des (June,2009)
Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands
J. Mechanisms Robotics (April,2025)
A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom
J. Mechanisms Robotics (December,2023)
Related Proceedings Papers
Related Chapters
Design and Analysis of a Double-Half-Revolution Mechanism Exploration Rover
Proceedings of the 2010 International Conference on Mechanical, Industrial, and Manufacturing Technologies (MIMT 2010)
Fatigue Analysis in the Connecting Rod of MF285 Tractor by Finite Element Method
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
Investigation of the Dynamic Characteristics of Cardio-Respiratory Response OT Treadmill Running Exercise for Interval Training
International Conference on Measurement and Control Engineering 2nd (ICMCE 2011)