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Tidying Tasks for Robot Vacuums via Geometry-Induced Self-Locking Deployable Linkage

The study proposes a two-stage deployable linkage that self-locks through its own geometry and is integrated into a commercial robot vacuum to support pushing-type tidying tasks. The mechanism uses a single actuator to deploy and lock, a passive trigger to release the lock for retraction, and a second actuator to adjust deployment height only; at full deployment, an internal three-link subchain approaches a collinear, near-singular configuration in which the transmission ratio tends toward zero, so loads produce only a very small residual back-driving torque.

Part of the event: Geometrically Self-Locking Deployable Linkage Mechanism for Robot Vacuums Proposed and Validated

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