Comparative study on the reachable workspaces of regular and irregular axially symmetric hexapod robots

Author(s):  
Aditya Srinivas Manohar ◽  
Shravan Anand Komakula ◽  
Kalaiarassan Gunasekaran ◽  
K. Padmanabhan Panchu
2021 ◽  
Vol 35 (11) ◽  
pp. 5255-5255
Author(s):  
Aditya Srinivas Manohar ◽  
Shravan Anand Komakula ◽  
Kalaiarassan Gunasekaran ◽  
Padmanabhan Panchu K.

2014 ◽  
Vol 6 (3) ◽  
Author(s):  
Mahdi Agheli ◽  
Stephen S. Nestinger

The workspace of hexapod robots is a key performance parameter which has attracted the attention of numerous researchers during the past decades. The selection of the hexapod parameters for a desired workspace generally employs the use of numerical methods. This paper presents a general methodology for solving the closed-form constant orientation workspace of radially symmetric hexapod robots. The closed-form solution facilitates hexapod robot design and minimizes numerical efforts with on-line determination of stability and workspace utilization. The methodology can be used for robots with nonsymmetric and nonidentical kinematic chains. In this paper, the methodology is used to derive the closed-form equations of the boundary of the constant-orientation workspace of axially symmetric hexapod robots. Several applications are provided to demonstrate the capability of the presented closed-form solution in design and optimization. An approach for workspace-based design optimization is presented using the provided analytical solution by applying an iterative optimization algorithm to the find optimized structural parameters and an optimized workspace.


2000 ◽  
Vol 179 ◽  
pp. 379-380
Author(s):  
Gaetano Belvedere ◽  
Kirill Kuzanyan ◽  
Dmitry Sokoloff

Extended abstractHere we outline how asymptotic models may contribute to the investigation of mean field dynamos applied to the solar convective zone. We calculate here a spatial 2-D structure of the mean magnetic field, adopting real profiles of the solar internal rotation (the Ω-effect) and an extended prescription of the turbulent α-effect. In our model assumptions we do not prescribe any meridional flow that might seriously affect the resulting generated magnetic fields. We do not assume apriori any region or layer as a preferred site for the dynamo action (such as the overshoot zone), but the location of the α- and Ω-effects results in the propagation of dynamo waves deep in the convection zone. We consider an axially symmetric magnetic field dynamo model in a differentially rotating spherical shell. The main assumption, when using asymptotic WKB methods, is that the absolute value of the dynamo number (regeneration rate) |D| is large, i.e., the spatial scale of the solution is small. Following the general idea of an asymptotic solution for dynamo waves (e.g., Kuzanyan & Sokoloff 1995), we search for a solution in the form of a power series with respect to the small parameter |D|–1/3(short wavelength scale). This solution is of the order of magnitude of exp(i|D|1/3S), where S is a scalar function of position.


2020 ◽  
Author(s):  
Bruno Oliveira Ferreira de Souza ◽  
Éve‐Marie Frigon ◽  
Robert Tremblay‐Laliberté ◽  
Christian Casanova ◽  
Denis Boire

2001 ◽  
Vol 268 (6) ◽  
pp. 1739-1748
Author(s):  
Aitor Hierro ◽  
Jesus M. Arizmendi ◽  
Javier De Las Rivas ◽  
M. Angeles Urbaneja ◽  
Adelina Prado ◽  
...  

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