Based on Reconfigurable Modular Intelligent Snake Robot and Three-Dimensional Multi Motion Simulation

2021 ◽  
pp. 431-437
Author(s):  
Zhenmin Yang ◽  
Xiaodong Wang ◽  
Hongbo Li ◽  
Yuying Feng
Keyword(s):  
Three Dimensional ◽  
Motion Simulation ◽  
Snake Robot

Design and Analysis of Reduced Degree of Freedom Modular Snake Robot

2017 ◽  
Author(s):  
Peter Racioppo ◽  
Wael Saab ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Three Dimensional ◽  
Cross Sectional ◽  
Design Synthesis ◽  
Snake Robot ◽  
Routing Schemes ◽  
Revolute Joints ◽  
Modular Units ◽  
A Chain ◽  
The Moment ◽  
And Control

This paper presents the design and analysis of an underactuated, cable driven mechanism for use in a modular robotic snake. The proposed mechanism is composed of a chain of rigid links that rotate on parallel revolute joints and are actuated by antagonistic cable pairs and a multi-radius pulley. This design aims to minimize the cross sectional area of cable actuated robotic snakes and eliminate undesirable nonlinearities in cable displacements. A distinctive feature of this underactuated mechanism is that it allows planar serpentine locomotion to be accomplished with only two modular units, improving the snake’s ability to conform to desired curvature profiles and minimizing the control complexity involved in snake locomotion. First, the detailed mechanism and cable routing scheme are presented, after which the kinematics and dynamics of the system are derived and a comparative analysis of cable routing schemes is performed, to assist with design synthesis and control. The moment of inertia of the mechanism is modeled, for future use in the implementation of three-dimensional modes of snake motion. Finally, a planar locomotion strategy for snake robots is devised, demonstrated in simulation, and compared with previous studies.

Motion Simulation of an Articulated Robotic Arm Subjected to Static Forces

1982 ◽  
Vol 104 (2) ◽  
pp. 494-503
Author(s):  
A. G. Patwardhan ◽  
A. H. Soni
Keyword(s):  
Simulation Model ◽  
Driving Forces ◽  
Three Dimensional ◽  
General System ◽  
Open Loop ◽  
Rigid Bodies ◽  
Robotic Arm ◽  
Motion Simulation ◽  
Static Loads ◽  
Generalized Parameters

A three-dimensional motion simulation model of an open-loop kinematically constrained mechanical system is developed to simulate the motion response of a robotic arm to externally applied static loads. The general system consists of N rigid bodies connected together by (N-1) kinematic pairs. The class and type of kinematic pairs may be selected from a set of twelve physically realizable kinematic pairs. Six equations of force equilibrium are written for an ith body. A variational method is used to linearize these equations for incremental values of displacement and to incorporate the generalized parameters of the kinematic pairs and characteristics of the internal driving forces. Five applications of the proposed simulation model are discussed.

Assembly and Motion Simulation of Turntable of Drilling Rig Based on SolidWorks

2011 ◽  
Vol 474-476 ◽  
pp. 2253-2257
Author(s):  
Jiang Ping Wang ◽  
Qi Shang ◽  
Ze Fu Bao
Keyword(s):  
Three Dimensional ◽  
Solid Model ◽  
Motion Simulation ◽  
Assembly Sequence ◽  
Design Efficiency ◽  
Engineering Software ◽  
Overall Design ◽  
Drilling Rig ◽  
The Given ◽  
Dynamic Interference

Three-dimensional solid model of a turntable of a drilling rig is built utilizing the modeling functions of an engineering software SolidWorks. The virtual assembly for every components of the turntable is accomplished with the given assembly sequence in SolidWorks environment. The motion simulation and animation of simulation processes for the turntable under given conditions are carried out with module SOSMOSMotion of SolidWorks, and the dynamic interference check is also completed, so as to guarantee the correctness of the part design and improve the overall design efficiency, accuracy and intuitiveness. The study of assembly and motion simulation of the turntable based on SolidWorks can lay the foundation for communication and evaluation of design process as well as the manufacturing of the overall drilling rig.

Motion Simulation and Finite Element Analysis of the Manipulator Based on SolidWorks

2014 ◽  
Vol 596 ◽  
pp. 640-645
Author(s):  
Peng Lu ◽  
Dao Lai Cheng ◽  
Gang Shi ◽  
Zhi Hao Zhou ◽  
Nan Kun Li
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Three Dimensional ◽  
Motion Simulation ◽  
Welding Robot ◽  
Element Analysis ◽  
Work Space ◽  
Three Dimensional Modeling ◽  
Dimensional Modeling ◽  
Design Structure

It will use SolidWorks to design structure of Manipulator and to establish the Three-dimensional Modeling based on automated welding robot of Shanghai Bamac Electric Technology Co., Ltd.,then by using the plug of simulation and motion of SolidWorks, it will focus on the Motion Simulation and Finite Element Analysis of the Manipulator. Finally the trajectory and the work space of the Manipulate can be received, and provide a basis of manipulator analysis in order to optimize the manipulator for the company.

Study on Kinematics Simulation of 3-TPT Parallel Machine Tool Based on Pro/E

2011 ◽  
Vol 199-200 ◽  
pp. 1555-1559 ◽  
Author(s):  
Heng Hua Zhao ◽  
Chuan Qiang Wang
Keyword(s):  
Machine Tool ◽  
Three Dimensional ◽  
Parallel Machine ◽  
Motion Simulation ◽  
Solid Models ◽  
Kinematics Simulation ◽  
Sense Of Reality ◽  
Working Principle ◽  
Simulation Results ◽  
Parallel Machine Tool

The machinery composition and working principle of 3-TPT parallel machine tool were analyzed. The three dimensional solid models of components of 3-TPT parallel machine tool were designed by using Pro/E. The virtual assembly and connection of the machine tool were accomplished in the assembly environment of Pro/E. Besides, the three-dimensional motion simulation of mechanism about the machine tool was researched in the mechanism module of Pro/E. The three-dimensional animation achieved by the simulation has the strong sense of reality. The working principle of the parallel machine tool was verified by the simulation. The simulation results show that the machine tool has advantages such as good stationarity, no interference and no singularity.

The Design and Research of Hydraulic Drive Auto Lift Machine Based on Solidworks

2014 ◽  
Vol 711 ◽  
pp. 108-111
Author(s):  
Jing Run Yan ◽  
Jian Ming Liang ◽  
Shu Zheng Shi ◽  
Chun Hua Zhu ◽  
Yu Ni Xiao
Keyword(s):  
Three Dimensional ◽  
Hydraulic Drive ◽  
Systematic Research ◽  
Motion Simulation ◽  
Hydraulic Circuit ◽  
Element Analysis ◽  
Virtual Modeling ◽  
Synchronous Drive ◽  
Lifting Equipment ◽  
Part Modeling

Double-column vehicle lift is a lifting equipment commonly used in auto repair and maintenance units, which is widely applied to the repair and maintenance of small vehicles such as cars. The design is a double-column vehicle lift driven by hydraulic. It mainly consists of lifting device, synchronous drive, column and bracket arm. The hydraulic circuit of hydraulic lifting device is designed. Currently, the articles concerning solidworks in the design of hydraulic drive lift only focus on unilateral appliance. When it comes to the design of the system, most of them concentrate on part modeling, virtual assembly, finite element analysis of parts ,etc, or a partial function of certain lifting machine. Seldom of them make a systematic research concerning motion stimulation. This paper, however, makes a three-dimensional virtual modeling for the lifting machine by the use of solidworks. In addition, it makes a structure verification of lift with assembly and motion simulation.

Sign in / Sign up

Export Citation Format

Share Document