Steering Mechanisms with Alterable Kinematic Parameter

2021 ◽  
pp. 512-521
Author(s):  
Roman Yu. Dobretsov ◽  
Andrei V. Lozin ◽  
Andrei O. Kaninskii ◽  
Vladimir E. Rolle
Keyword(s):  
Kinematic Parameter

Use of the kinematic radius in the rolling mechanics of an elastic wheel

2021 ◽  
pp. 17-27
Author(s):  
V.I. Kopotilov
Keyword(s):  
Traction Force ◽  
Rolling Resistance ◽  
Kinematic Parameter ◽  
Resistance Force ◽  
Elastic Wheel ◽  
Wheel Rolling ◽  
Physical Essence ◽  
Braking Force ◽  
Rolling Mode

The analysis of the physical essence of the kinematic and dynamic radii of the wheel is given. It is stated that the rolling radius of the wheel is a conditional kinematic parameter that characterizes only the rolling mode of the wheel. It is not the shoulder of all longitudinal forces acting on the wheel and should not be used to determine tractive forces, rolling resistance and wheel braking forces. Specific examples are given to illustrate the inappropriateness of using the kinematic radius to determine forces and moments. Keywords: elastic wheel, rolling radius, kinematic radius, dynamic radius, arm of force, traction force, rolling resistance force, braking force, rolling mode

Object Oriented Dexterity Analysis and Design Application for Spatial Robot Hands

1989 ◽  
Author(s):  
L. Lu ◽  
C. Cai ◽  
A. H. Soni
Keyword(s):  
Performance Evaluation ◽  
Object Oriented ◽  
Kinematic Parameter ◽  
Least Square ◽  
Parameter Determination ◽  
Robot Hand ◽  
Kinematic Parameters ◽  
Analysis And Design ◽  
Robot Hands

Abstract For an arbitrarily shaped object manipulated by a robot hand, this paper presents a procedure for analyzing the position and rotation ranges of the object, and a procedure for designing the kinematic parameters of a hand to meet given requirements on the motion ranges. Rotation dexterity index, dexterity charts, and a dexterity scalar characterizing both position range and rotation range are introduced for the performance evaluation of a robot hand. Least-square-error iteration and steps are detailed for the kinematic parameter determination of a robot hand.

Multifidelity kinematic parameter optimization of a flapping airfoil

2020 ◽  
Vol 101 (1) ◽  
Author(s):  
Hongyu Zheng ◽  
Fangfang Xie ◽  
Tingwei Ji ◽  
Zaoxu Zhu ◽  
Yao Zheng
Keyword(s):  
Parameter Optimization ◽  
Kinematic Parameter ◽  
Flapping Airfoil

scholarly journals IMU-Based Online Kinematic Calibration of Robot Manipulator

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Guanglong Du ◽  
Ping Zhang
Keyword(s):  
Kalman Filter ◽  
Robot Manipulator ◽  
Experimental Studies ◽  
Estimation Method ◽  
Kinematic Parameter ◽  
Corner Detection ◽  
Measurement Unit ◽  
Robot Calibration ◽  
Self Calibration ◽  
Calibration Methods

Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

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