Type synthesis of a 3-mixed-DOF protectable leg mechanism of a firefighting multi-legged robot based on GF set theory

2018 ◽  
Vol 130 ◽  
pp. 567-584 ◽  
Author(s):  
Jinzhu Zhang ◽  
Zhenlin Jin ◽  
Haibing Feng
Keyword(s):  
Set Theory ◽  
Legged Robot ◽  
Type Synthesis ◽  
Gf Set

Type synthesis for 4-DOF parallel press mechanism using GF set theory

2015 ◽  
Vol 28 (4) ◽  
pp. 851-859 ◽  
Author(s):  
Jun He ◽  
Feng Gao ◽  
Xiangdun Meng ◽  
Weizhong Guo
Keyword(s):  
Set Theory ◽  
Type Synthesis ◽  
Gf Set

TYPE SYNTHESIS AND TYPE ANALYSIS OF 3T2R HYBRID MECHANISMS VIA GF SET

2017 ◽  
Vol 32 (4) ◽  
Author(s):  
Yi Cao ◽  
Hui Zhou ◽  
Youlei Qin ◽  
Kai Liu ◽  
Weixi Ji ◽  
...  
Keyword(s):  
Type Synthesis ◽  
Type Analysis ◽  
Gf Set ◽  
Hybrid Mechanisms

scholarly journals Type Synthesis, Modelling and Analysis of the Manipulator for Wheel-Legged Robot

2016 ◽  
Vol 10 (2) ◽  
pp. 87-91
Author(s):  
Jarosław Szrek ◽  
Artur Muraszkowski ◽  
Przemysław Sperzyński
Keyword(s):  
Simulation Software ◽  
Dynamics Simulation ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Legged Robot ◽  
Type Synthesis ◽  
Structural Synthesis ◽  
New Approach ◽  
Basic Dimension ◽  
Simulation Results

Abstract The aim of this article is to present the concept of wheel-legged mobile manipulator, which is a combination of mobile platform with specially selected suspension system and a manipulator. First, a literature review was performed and own solution proposed. The kinematic structure of manipulator, selected simulation results, physical model and the concept of the control system has been presented. Geometry synthesis was used to design basic dimension. Structural synthesis was performed according to the intermediate chain method. Simulations were performed using the multibody dynamics simulation software. New approach in the field of the mobile manipulators was presented as a result.

Design, kinematic and dynamic modeling of a novel tripod based manipulator

Robotica ◽  
2014 ◽  
Vol 34 (10) ◽  
pp. 2186-2204 ◽  
Author(s):  
Dan Zhang ◽  
Bin Wei
Keyword(s):  
Set Theory ◽  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
General Function ◽  
Multi Objective Optimization ◽  
Gf Set ◽  
Hybrid Manipulator ◽  
New Type ◽  
Three Degrees Of Freedom

SUMMARYThis paper proposes a novel three-degrees-of-freedom (3-DOF) hybrid manipulator, 3PU*S-PU, which evolves from the general function (Gf) set theory. After discussing the advantages of this new type of hybrid manipulator, this report analyzes the kinematic and Jacobian matrix of the manipulator. Subsequently, the kinematic performances, including stiffness/compliance, and workspace, undergo analysis, followed by the multi-objective optimization of the compliance and workspace. The Lagrangian method provides the framework for briefly analyzing the dynamics of the proposed manipulator. Finally, the results of this assessment comprise a guideline for controlling the manipulator.

Type synthesis of legged mobile landers with one passive limb using the singularity property

Robotica ◽  
2018 ◽  
Vol 36 (12) ◽  
pp. 1836-1856 ◽  
Author(s):  
Rongfu Lin ◽  
Weizhong Guo ◽  
Xianbao Chen ◽  
Meng Li
Keyword(s):  
Autonomous Robots ◽  
The Novel ◽  
Legged Robot ◽  
Type Synthesis ◽  
Typical Structure ◽  
New Approach ◽  
Lie Group Theory ◽  
Software Simulation ◽  
Design Procedures ◽  
Novel Structures

SUMMARYDuring extraterrestrial planetary exploration programs, autonomous robots are deployed using a separate immovable lander and a rover. This mode has some limitations. In this paper, a concept of a novel legged robot with one passive limb and singularity property is introduced that has inbuilt features of a lander and a rover. Currently, studies have focused primarily on a performance analysis of the lander without a walking function. However, a systematic type synthesis of the legged mobile lander has not been studied. In this study, a new approach to the type synthesis used for the robot is proposed based on the Lie group theory. The overall concept and design procedures are proposed and described. The motion requirements of the robot and its legs, which are corresponding to the multi-function, are extracted and described. The layouts of the subgroups or submanifolds of the limbs are determined. The structures of the passive and actuated limbs are synthesized. Numerous structures of the legs with a passive limb are produced and listed corresponding to the desired displacement manifolds. Numerous novel structures of legs for the legged mobile lander are presented and listed. Then, four qualitative criteria or indexes are introduced. Based on the proposed criteria, a leg's configuration is selected as the best. A typical structure of the legged mobile lander is obtained by assembling the structures of the proposed legs. Finally, the typical robot is used as an example to verify the capabilities of the novel robot using a software simulation (ADAMS).

Type Synthesis of Parallel Mechanisms Having Two Rotations

2010 ◽  
Author(s):  
Feng Gao ◽  
Jialun Yang ◽  
Qiaode Jeffrey Ge
Keyword(s):  
Natural Law ◽  
Robotic Manipulators ◽  
Performance Criteria ◽  
Generalized Function ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Gf Set ◽  
End Effectors

In the last few decades, researchers have proposed a few different methods to synthesize parallel mechanisms. In this paper, we propose both the natural law for kinematic mobility and the generalized function sets (GF set for short) which are used for the type synthesis of parallel mechanisms, particularly for those having two rotations. The natural law for kinematic mobility lays the foundation for the algorithms of the intersection of GF sets. Moreover, the GF sets are used for describing the performance criteria of the end-effectors of robotic manipulators in a clear and systematic way, including the mechanisms having two rotations. Finally, several novel parallel mechanisms having two rotations have been illustrated to show the effectiveness of the proposed methodology.

Type Synthesis of Parallel Mechanisms Having the Second Class GF Sets and Two Dimensional Rotations

2010 ◽  
Vol 3 (1) ◽  
Author(s):  
Feng Gao ◽  
Jialun Yang ◽  
Qiaode Jeffrey Ge
Keyword(s):  
Generalized Function ◽  
Two Dimensional ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Gf Set ◽  
End Effectors

With the introduction of generalized function sets (GF set) to represent the characteristics of the end-effectors of parallel mechanisms, two classes of GF sets are proposed. The type synthesis of parallel mechanisms having the second class GF sets and two dimensional rotations, including 2-, 3-, and 4DOF parallel mechanisms, is investigated. First, the intersection algorithms for the GF sets are established via the axiom of two dimensional rotations. Second, the kinematic limbs with specific characteristics are designed according to the axis movement theorem. Finally, several parallel mechanisms having the second class GF sets and two dimensional rotations have been illustrated to show the effectiveness of the proposed methodology.

Study on Mechanics Structural Synthesis of Six-Legged Walking Robot with Parallel Leg Mechanisms

2012 ◽  
Vol 496 ◽  
pp. 247-250 ◽  
Author(s):  
Yu Rong ◽  
Zhen Lin Jin ◽  
Meng Ke Qu
Keyword(s):  
Theoretical Foundation ◽  
Screw Theory ◽  
Synthesis Method ◽  
Specific Structure ◽  
Legged Robot ◽  
Walking Robot ◽  
Type Synthesis ◽  
Structural Synthesis ◽  
Manifold Theory ◽  
Leg Mechanisms

In order to use the parallel leg mechanisms in the six-legged robot, a six-legged walking robot with parallel leg mechanisms was presented. A six-legged walking robot type synthesis method based on screw theory was proposed. By this method, the paper carried on the structural synthesis of whole robot and the parallel leg mechanisms. 2-UPS&UP mechanism was chosen as the leg mechanism of the six-legged walking robot. 2-UPS&UP mechanism had been proven not to be an instantaneous mechanism by the displacement manifold theory. The specific structure of the six-legged walking robot based on2-UPS&UP mechanism was designed. These studies laid the theoretical foundation for further study of the six-legged walking robot. This type synthesis method could be used for the design of other multi-legged walking robot.

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