In this paper, a novel mobile mechanism based on Bennett mechanism is proposed, which can realize self-crossing locomotion. Unlike the most of the self-crossing mechanisms, the proposed mechanism can be assembled modularly, which has better environment adaptability. Firstly, on the basis of revealing mechanism of the self-crossing movement, configuration of the self-crossing mechanism is designed. The mechanism consists of n Bennett mechanisms connected in series by 2(n-1) 3R limbs that are symmetrically distributed on both sides of n Bennett mechanisms. Then, kinematic analysis of the mechanism is carried out based on finite and instantaneous screw theory, including mobility analysis and gait analysis. For the former, the number of degrees of freedom that the mechanism can achieve self-crossing locomotion is obtained, and for the latter, the trajectory of end point of the mechanism in the self-crossing movement is obtained. Finally, On the basis of theoretical analysis, simulation is conducted, and the results show that the proposed novel mechanism can realize self-crossing locomotion without interference, which verified the rationality of the mechanism. This paper provides a useful reference for the design and analysis of self-crossing mobile mechanism.

本文提出了一种基于贝内特机制的新型移动机制，该机制可以实现自交叉运动。与大多数自交叉机制不同，所提出的机制可以模块化组装，具有更好的环境适应性。首先，在揭示自穿越运动的机理的基础上，设计了自穿越机构的结构。该机构由的Ñ由2串联连接的贝内特机制（Ñ -1）3 - [R肢体被上的两侧对称地分布Ñ贝内特机制。然后，基于有限和瞬时螺旋理论对机构进行运动学分析，包括运动性分析和步态分析。对于前者，获得机构可以实现自交叉运动的自由度的数量，而对于后者，获得机构在自交叉运动中的终点的轨迹。最后，在理论分析的基础上进行了仿真，结果表明所提出的新型机构能够实现无干扰的自交叉运动，验证了该机构的合理性。本文为自交叉移动机构的设计和分析提供了有益的参考。