Kinematics and Dynamics of Excavator Based on Screw Theory

2017 ◽  
pp. 1063-1077
Author(s):  
Guosheng Xu ◽  
Guangming Lv
Keyword(s):  
Screw Theory ◽  
Kinematics And Dynamics

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

DYNAMICS MODELING AND SIMULATION OF A KIND OF WHEELED HUMANOID ROBOT BASED ON SCREW THEORY

2012 ◽  
Vol 09 (04) ◽  
pp. 1250029 ◽  
Author(s):  
JINGGUO WANG ◽  
YANGMIN LI
Keyword(s):  
Humanoid Robot ◽  
Screw Theory ◽  
Kinematics And Dynamics ◽  
Variation Principle ◽  
Dynamics Modeling ◽  
Modeling Methodology ◽  
Body Dynamics ◽  
Simulation Results ◽  
Multi Body ◽  
The Relationship

Based on the screw theory and Lie group notations, this paper presents a modeling method for a kind of wheeled humanoid robot whose upper human-like body is mounted on the top of a mobile platform with three wheels. By combining the reciprocal product of the twist and wrench with Jourdain variation principle, a general formulation method is proposed to model the whole system's dynamics that represents directly the relationship between the input and the resultant external and inertial wrench. Both the system kinematics and dynamics are derived carefully. The simulations are made to verify the proposed modeling methodology and the simulation results are also compared with the results obtained from the multi-body dynamics software.

Mobility analysis of complex joints by means of screw theory

Robotica ◽  
2009 ◽  
Vol 27 (6) ◽  
pp. 915-927 ◽  
Author(s):  
Jingjun Yu ◽  
Jian S. Dai ◽  
Tieshi Zhao ◽  
Shusheng Bi ◽  
Guanghua Zong
Keyword(s):  
Structural Design ◽  
Screw Theory ◽  
Kinematics And Dynamics ◽  
Functional Modules ◽  
Mechanism Analysis ◽  
Mobility Analysis ◽  
Surgical Robots ◽  
Reconfigurable Robots ◽  
Parallel Kinematic

SUMMARYIn structural design of current complex mechanisms or robots like parallel kinematic machines (PKMs), surgical robots, and reconfigurable robots, there commonly exist some functional modules called complex joints (CJs). Each of them, consisting of several simple pairs and essentially a mechanism, plays the same and more important roles as simple joints in kinematics and dynamics. However, as the primarily important aspect in mechanism analysis, the type and mobility of these CJs are far from familiarity. Therefore, this paper aims at addressing the type and mobility of CJs. For this purpose, the concept and classification of CJs are first discussed, an effective method to analyze the mobility characteristics of these CJs is then developed based on the equivalent screw system. The advantage of this method is that it reveals mobility characteristics by using equivalent transformations of kinematic pair screw (KP-screw) and constraint screw (C-screw) systems. With this method, the mobility characteristics of some concrete CJs are obtained correspondingly.

Analyse of the Automatic Leveling System of Parallel Support Mechanism Based on Screw Theory

2011 ◽  
Vol 211-212 ◽  
pp. 1077-1081 ◽  
Author(s):  
De Hai Chen ◽  
Fan Xiao ◽  
Da Chang Zhu ◽  
Qi Hua Gu
Keyword(s):  
System Dynamics ◽  
Screw Theory ◽  
Kinematics And Dynamics ◽  
Kinetic Characteristics ◽  
Support Mechanism

Analyse of automatic leveling system parallel support mechanism by the screw theory .Using software of Adams to analysis the mechanism kinematics and dynamics. Analyse the kinetic characteristics to verify whether it can meet the automatic leveling system dynamics and kinematics of the requirements.

Kinematics and dynamics Hessian matrices of manipulators based on screw theory

2015 ◽  
Vol 28 (2) ◽  
pp. 226-235 ◽  
Author(s):  
Tieshi Zhao ◽  
Mingchao Geng ◽  
Yuhang Chen ◽  
Erwei Li ◽  
Jiantao Yang
Keyword(s):  
Screw Theory ◽  
Kinematics And Dynamics

Kinematics and dynamics of 2(3-RPS) manipulators by means of screw theory and the principle of virtual work

2008 ◽  
Vol 43 (10) ◽  
pp. 1281-1294 ◽  
Author(s):  
Jaime Gallardo-Alvarado ◽  
Carlos R. Aguilar-Nájera ◽  
Luis Casique-Rosas ◽  
José M. Rico-Martínez ◽  
Md. Nazrul Islam
Keyword(s):  
Screw Theory ◽  
Virtual Work ◽  
Kinematics And Dynamics ◽  
Principle Of Virtual Work

Kinematics and dynamics of deployable structures with scissor-like-elements based on screw theory

2014 ◽  
Vol 27 (4) ◽  
pp. 655-662 ◽  
Author(s):  
Yuantao Sun ◽  
Sanmin Wang ◽  
James K. Mills ◽  
Changjian Zhi
Keyword(s):  
Screw Theory ◽  
Kinematics And Dynamics ◽  
Deployable Structures

Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory

2008 ◽  
Vol 20 (4) ◽  
pp. 307-325 ◽  
Author(s):  
J. Gallardo-Alvarado ◽  
C. R. Aguilar-Nájera ◽  
L. Casique-Rosas ◽  
L. Pérez-González ◽  
J. M. Rico-Martínez
Keyword(s):  
Screw Theory ◽  
Kinematics And Dynamics ◽  
Redundant Manipulator

RANCANG BANGUN MESIN PEMOTONG RUMPUT TENAGA SURYA UNTUK NAVIGASI

2015 ◽  
Vol 1 (1) ◽  
pp. 5-16
Author(s):  
John Ohoiwutun
Keyword(s):  
High Speed ◽  
Solar Power ◽  
Human Life ◽  
Operating Cost ◽  
Fuel Oil ◽  
Kinematics And Dynamics ◽  
Control Input ◽  
High Speed Cutting ◽  
Lawn Mower ◽  
Coal Fuel

Utilization of conventional energy sources such as coal, fuel oil, natural gas and others on the one hand has a low operating cost, but on the other side of the barriers is the greater source of diminishing returns and, more importantly, the emergence of environmental pollution problems dangerous to human life. This study aims to formulate the kinematics and dynamics to determine the movement of Solar Power Mower. In this study, using solar power as an energy source to charge the battery which then runs the robot. Design and research was conducted in the Department of Mechanical Workshop Faculty of Engineering, University of Hasanuddin of Gowa. Control system used is a manual system using radio wave transmitter and receiver which in turn drive the robot in the direction intended. Experimental results showed that treatment with three variations of the speed of 6.63 m / s, 8.84 m / s and 15.89 m / sec then obtained the best results occur in grass cutting 15.89 sec and high-speed cutting grass 5 cm. Formulation of kinematics and dynamics for lawn mowers, there are 2 control input variables, x and y ̇ ̇ 3 to control the output variables x, y and θ so that there is one variable redudant. Keywords: mobile robots, lawn mower, solar power

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