Constraint embedding in kinematics and dynamics of hybrid manipulator systems

KSME Journal ◽  
1994 ◽  
Vol 8 (1) ◽  
Author(s):  
Whang Cho
Keyword(s):  
Kinematics And Dynamics ◽  
Hybrid Manipulator ◽  
Constraint Embedding

Design and Simulation Analysis of a Hybrid Manipulator

2013 ◽  
Vol 712-715 ◽  
pp. 2255-2259 ◽  
Author(s):  
Zi Yun Xue ◽  
Bin Zhang ◽  
Ji Xing Jia ◽  
Dong Bo Zhang
Keyword(s):  
3D Modeling ◽  
Simple Structure ◽  
Simulation Analysis ◽  
Dynamics Simulation ◽  
Kinematics And Dynamics ◽  
Industrial Agriculture ◽  
Theoretical Base ◽  
Hybrid Mechanism ◽  
Hybrid Manipulator ◽  
Adams Software

The unique design for a novel 3-DOF hybrid mechanism is proposed in this paper. The 3D modeling of the structure is constructed with Pro/E., kinematics and dynamics simulation by ADAMS software, which can provide a theoretical base for the optimal design and application of the mechanism. This novel 3-DOF hybrid mechanism is suitable for the industrial, agriculture and service applications in which the requirements for simple structure, high stiffness, and large workspace.

Kinematics and dynamics of a novel hybrid manipulator

2015 ◽  
Vol 230 (10) ◽  
pp. 1644-1657 ◽  
Author(s):  
Yi Lu ◽  
Canguo Zhang ◽  
Chengjun Cao ◽  
Yansheng Dong ◽  
Yang Liu
Keyword(s):  
Parallel Manipulator ◽  
Displacement Velocity ◽  
Kinematics And Dynamics ◽  
Numerical Example ◽  
Hybrid Manipulator ◽  
Universal Joints

A novel hybrid manipulator is proposed and its kinematics and dynamics are analyzed systematically. First, a 3D prototype of the hybrid manipulator is constructed and analyzed. It is composed of a 5-DoF parallel manipulator with two equivalent composite universal joints and three fingers. Second, the kinematics formulae are established for solving the displacement, velocity and acceleration of the parallel manipulator and the finger mechanisms. Third, the dynamics formulae are derived for solving the dynamic active and constrained forces of the parallel manipulator and the finger mechanisms. Finally, a numerical example is given for solving the kinematics and the dynamics of the hybrid manipulator and the analytic solved results are verified by the simulation mechanism.

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

Effect of Rope Skipping Techniques on Kinematics and Dynamics of Motion

2014 ◽  
Vol 8 (6) ◽  
pp. 1037
Author(s):  
Ratna Chow ◽  
Ahmad Faizal Salleh ◽  
Mohd Shahril Salim ◽  
Wan Mohd Radzi Bin Rusli ◽  
Norazian Abd. Razak ◽  
...  
Keyword(s):  
Kinematics And Dynamics ◽  
Rope Skipping

Kinematics and dynamics of lava flows

2005 ◽  
Author(s):  
Michael Manga ◽  
Guido Ventura
Keyword(s):  
Lava Flows ◽  
Kinematics And Dynamics

Kinematics and dynamics of pitching flexible panels in a quiescent fluid

2021 ◽  
Vol 922 ◽  
Author(s):  
Parag Deshpande ◽  
Abhijeet Vishwasrao
Keyword(s):  
Kinematics And Dynamics ◽  
Flexible Panels ◽  
Quiescent Fluid

Abstract

scholarly journals An Adaptive Controller for Robotic Manipulators with Unknown Kinematics and Dynamics

2020 ◽  
Vol 53 (2) ◽  
pp. 8796-8801
Author(s):  
Sihan Wang ◽  
Kaiqiang Zhang ◽  
Guido Herrmann
Keyword(s):  
Robotic Manipulators ◽  
Adaptive Controller ◽  
Kinematics And Dynamics

scholarly journals Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

2018 ◽  
Vol 8 (3) ◽  
pp. 464 ◽  
Author(s):  
Xin Wang ◽  
Qiuzhi Song ◽  
Xiaoguang Wang ◽  
Pengzhan Liu
Keyword(s):  
Upper Limb ◽  
Elbow Joint ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Upper Limb Exoskeleton

scholarly journals Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot

2021 ◽  
Vol 11 (9) ◽  
pp. 3757
Author(s):  
Lucian Ștefăniță Grigore ◽  
Ionica Oncioiu ◽  
Iustin Priescu ◽  
Daniela Joița
Keyword(s):  
The Other ◽  
Kinematics And Dynamics ◽  
The Novel ◽  
Propulsion Systems ◽  
Load Bearing ◽  
Emergency Situations ◽  
Modular Model ◽  
Explosive Ordnance Disposal ◽  
Multiple Missions ◽  
A Company

Today, terrestrial robots are used in a multitude of fields and for performing multiple missions. This paper introduces the novel development of a family of crawling terrestrial robots capable of changing very quickly depending on the missions they have to perform. The principle of novelty is the use of a load-bearing platform consisting of two independent propulsion systems. The operational platform, which handles the actual mission, is attached (plug and play) between the two crawler propulsion systems. The source of inspiration is the fact that there are a multitude of intervention robots in emergency situations, each independent of the other. In addition to these costs, there are also problems with the specialization of a very large number of staff. The present study focused on the realization of a simplified, modular model of the kinematics and dynamics of the crawler robot, so that it can be easily integrated, by adding or removing the calculation modules, into the software used. The designed model was integrated on a company controller, which allowed us to compare the results obtained by simulation with those obtained experimentally. We appreciate that the analyzed Explosive Ordnance Disposal (EOD) robot solution represents a premise for the development of a family of EOD robots that use the same carrier platform and to which a multitude of operational platforms should be attached, depending on the missions to be performed.

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