Type synthesis of a family of novel parallel leg mechanisms driven by a 3-DOF drive system

2022 ◽  
Vol 167 ◽  
pp. 104572
Author(s):  
Luquan Li ◽  
Yuefa Fang ◽  
Jiaqiang Yao ◽  
Lin Wang
Keyword(s):  
Drive System ◽  
Type Synthesis ◽  
Leg Mechanisms

Type synthesis of a class of novel 3-DOF single-loop parallel leg mechanisms for walking robots

2020 ◽  
Vol 145 ◽  
pp. 103695 ◽  
Author(s):  
Luquan Li ◽  
Yuefa Fang ◽  
Sheng Guo ◽  
Haibo Qu ◽  
Lin Wang
Keyword(s):  
Walking Robots ◽  
Type Synthesis ◽  
Single Loop ◽  
Leg Mechanisms

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.

EFFICIENCY IMPROVING OF THE DRIVE SYSTEM FOR FAN INSTALLATIONS

2017 ◽  
Vol 25 (101) ◽  
pp. 9-16
Author(s):  
N., Ivanitskiy ◽  
◽  
Igor M., Kocur ◽  
Mihail I., Kotsur ◽  
D., Kravchenko ◽  
...  
Keyword(s):  
Drive System

Fuzzy adaptive Kalman filter for the drive system with an elastic coupling

2013 ◽  
Vol 62 (2) ◽  
pp. 251-265 ◽  
Author(s):  
Piotr J. Serkies ◽  
Krzysztof Szabat
Keyword(s):  
Kalman Filter ◽  
Control Structure ◽  
Experimental Tests ◽  
Drive System ◽  
Adaptive Kalman Filter ◽  
State Matrix ◽  
State Controller ◽  
Kalman Gain ◽  
Robust Adaptive ◽  
Fuzzy Adaptive

Abstract In the paper issues related to the design of a robust adaptive fuzzy estimator for a drive system with a flexible joint is presented. The proposed estimator ensures variable Kalman gain (based on the Mahalanobis distance) as well as the estimation of the system parameters (based on the fuzzy system). The obtained value of the time constant of the load machine is used to change the values in the system state matrix and to retune the parameters of the state controller. The proposed control structure (fuzzy Kalman filter and adaptive state controller) is investigated in simulation and experimental tests.

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