Design and locomotivity analysis of a novel deformable two-wheel-like mobile mechanism

2020 ◽  
Vol 47 (3) ◽  
pp. 369-380 ◽  
Author(s):  
Qianqian Zhang ◽  
Yezhuo Li ◽  
Yan-An Yao ◽  
Ruiming Li
Keyword(s):  
Design Methodology ◽  
Mode Switching ◽  
Main Body ◽  
Dynamics Analysis ◽  
Kinematics Analysis ◽  
Content Type ◽  
Physical Prototype ◽  
Dynamic Obstacle ◽  
Rolling Mode ◽  
Multi Mode

Purpose The purpose of this paper is to propose a deformable two-wheel-like mobile mechanism based on overconstrained mechanism, with the abilities of fast rolling and obstacle surmounting. The drive torque of the multi-mode motions is generated by self-deformation. Moreover, the analyses of feasibility and locomotivity of two mobile modes are presented. Design/methodology/approach The main body of the two-wheel-like mobile mechanism is a kind of centrally driven 4 R linkages. The mobile mechanism can achieve the capabilities of fast rolling and obstacle surmounting through integrating two mobile modes (spherical-like rolling mode and polyhedral-like obstacle-surmounting mode) and can switch to the corresponding mode to move or surmount obstacles. The mobility and kinematics of the mobile modes are analyzed. Findings Based on the results of kinematics analysis and dynamics analysis of the wheel-like mechanism, the spherical-like rolling mode has the capability of fast rolling, and the polyhedral-like obstacle-surmounting mode has the capability of surmounting different obstacle heights by two submodes (quasi-static obstacle-surmounting submode and dynamic obstacle-surmounting submode). The proposed concept is verified by experiments on a physical prototype. Originality/value The work presented in this paper is a novel exploration to apply bar linkages in the field of scout. The two-wheel-like mobile mechanism improves the torque imbalance of bar linkages by centrally driven method, removes the rear support structures of the traditional two-wheeled mechanisms by self-deformation and increases the height of obstacle surmounting by mode switching angle.

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zhirui Wang ◽  
Yezhuo Li ◽  
Bo Su ◽  
Lei Jiang ◽  
Ziming Zhao ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Main Body ◽  
Dynamics Analysis ◽  
Content Type ◽  
Displacement Error ◽  
Working Space ◽  
Revolute Joints ◽  
Physical Prototype ◽  
Moving Direction ◽  
Rolling Locomotion

Purpose The purpose of this paper is to introduce a tetrahedral mobile robot with only revolute joints (TMRR). By using rotation actuators, the mechanism of the robot gains favorable working space and eliminates the engineering difficulties caused by the multilevel extension compared with liner actuators. Furthermore, the rolling locomotion is improved to reduce displacement error based on dynamics analysis. Design/methodology/approach The main body of deforming mechanism with a tetrahedral exterior shape is composed of four vertexes and six RRR chains. The mobile robot can achieve the rolling locomotion and reach any position on the ground by orderly driving the rotation actuators. The global kinematics of the mobile modes are analyzed. Dynamics analysis of the robot falling process is carried out during the rolling locomotion, and the rolling locomotion is improved by reducing the collision impulse along with the moving direction. Findings Based on global kinematics analysis of TMRR, the robot can realize the continuous mobility based on rolling gait planning. The main cause of robot displacement error and the corresponding improvement locomotion are gained through dynamic analysis. The results of the theoretical analysis are verified by experiments on a physical prototype. Originality/value The work introduced in this paper is a novel exploration of applying the mechanism with only revolute joints to the field of tetrahedral rolling robots. It is also an attempt to use the improved rolling locomotion making this kind of mobile robot more practical. Meanwhile, the reasonable engineering structure of the robot provides feasibility for load carrying.

SLEGS robot: development and design of a novel flexible and self-reconfigurable robot leg

2017 ◽  
Vol 44 (3) ◽  
pp. 377-391
Author(s):  
Servet Soyguder ◽  
Walter Boles
Keyword(s):  
Computer Model ◽  
Design Methodology ◽  
The Novel ◽  
Legged Robot ◽  
Kinematics Analysis ◽  
Content Type ◽  
Wheeled Robot ◽  
Reconfigurable Robot ◽  
Robot Leg ◽  
3D Computer Model

Purpose This paper aims to explain the design of a novel leg mechanism for SLEGS robot. SLEGS means both “S”-shaped for the legged robot and “O”-shaped for the wheeled robot. It is a reconfigurable/transformable mobile robot. Design/methodology/approach First, a novel robot leg is designed by inspiration from previous studies. Second, the SLEGS robot’s leg is modeled using 3D computer model, and kinematics analysis performed on the leg mechanism. Finally, the prototype of the novel leg was developed for the SLEGS robot. Findings The robot leg mechanism has both flexible and self-reconfigurable modular features. All legs automatically take the form of both a rotating wheel and a walking leg with a self-reconfigurable modular feature. Originality/value The modeled leg is original in terms of its novel locomotion mechanism in both the walking and wheeled configurations.

Motion and path planning of a novel multi-mode mobile parallel robot based on chessboard-shaped grid division

2018 ◽  
Vol 45 (3) ◽  
pp. 390-400 ◽  
Author(s):  
Zhaotian Wang ◽  
Yezhuo Li ◽  
Yan-An Yao
Keyword(s):  
Path Planning ◽  
Parallel Robot ◽  
Content Type ◽  
Planning Strategy ◽  
Planning Algorithm ◽  
Rolling Mode ◽  
Path Planning Algorithm ◽  
Grid Division ◽  
Multi Mode ◽  
Motion Strategy

Purpose The purpose of this paper is to put forward a rolling assistant robot with two rolling modes, and the multi-mode rolling motion strategy with path planning algorithm, which is suitable to this multi-mode mobile robot, is proposed based on chessboard-shaped grid division (CGD). Design/methodology/approach Based on the kinematic analysis and motion properties of the mobile parallel robot, the motion strategy based on CGD path planning algorithm of a mobile robot with two rolling modes moving to a target position is divided into two parts, which are local self-motion planning and global path planning. In the first part, the mobile parallel robot can move by switching and combining the two rolling modes; and in the second part, the specific algorithm of the global path planning is proposed according to the CGD of the moving ground. Findings The assistant robot, which is a novel 4-RSR mobile parallel robot (where R denotes a revolute joint and S denotes a spherical joint) integrating operation and rolling locomotion (Watt linkage rolling mode and 6R linkage rolling mode), can work as a moving spotlight or worktable. A series of simulation and prototype experiment results are presented to verify the CGD path planning strategy of the robot, and the performance of the path planning experiments in simulations and practices shows the validation of the path planning analysis. Originality/value The work presented in this paper is a further exploration to apply parallel mechanisms with two rolling modes to the field of assistant rolling robots by proposing the CGD path planning strategy. It is also a new attempt to use the specific path planning algorithm in the field of mobile robots for operating tasks.

An agile assistant robot integrating operation and rolling locomotion

2017 ◽  
Vol 44 (1) ◽  
pp. 114-126 ◽  
Author(s):  
Yezhuo Li ◽  
Yan-An Yao ◽  
Junlin Cheng ◽  
Yaobin Tian ◽  
Ran Liu
Keyword(s):  
Target Location ◽  
Translational Motion ◽  
Main Body ◽  
Parallel Mechanisms ◽  
Human Beings ◽  
Content Type ◽  
Operating Modes ◽  
Rolling Mechanism ◽  
Rotational Motions ◽  
Rolling Mode

Purpose The purpose of this paper is to propose an agile assistant robot to be used as a mobile partner with two rotational motions and one translational motion. This robot possesses the rolling function and three operating abilities to assistant human beings in the industrial environment. Design/methodology/approach The main body of the robot is a typical 4-RSR (where R denotes a revolute joint and S denotes a spherical joint) parallel mechanism. The mechanism can reach any position on the ground by two rolling modes (the equivalent Watt linkage rolling mode and the equivalent 6R linkage rolling mode), and the robot can work as a spotlight or a worktable in operating modes at the target location. The mobility, rolling modes, operating modes and kinematics are analyzed. Findings Based on the results of kinematics of this assistant robot, the upper platform of the 4-RSR rolling mechanism has two rotational motions and one translational motion which can be used in the industry. The proposed concept is verified by experiments on a physical prototype. Practical implications This paper also discusses the application to industrial cases where cooperation between workers and robots is required. Originality/value The work presented in this paper is a novel exploration to apply parallel mechanisms to the field of assistant rolling robots. It is also a new attempt to use the rolling mechanism in the field of mobile operating robots for industry tasks.

Universal grey number theory for the uncertainty presence of wiper structural system

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zhiqiang Liang ◽  
Xintian Liu ◽  
Wang Yansong ◽  
Xiaolan Wang
Keyword(s):  
Number Theory ◽  
Comparative Analysis ◽  
Design Methodology ◽  
Structural System ◽  
Kinematics Analysis ◽  
Accurate Analysis ◽  
Interval Method ◽  
Content Type ◽  
Grey Number

Purpose This study aims to accurately evaluate the influence of various error intervals on the performance of the wiper. Design/methodology/approach The wiper structural system is decomposed into classical four-link planar for kinematics analysis, and it was modeled respectively by using interval method, universal grey number theory and enumeration approach depending on the nature of uncertainty. Findings The universal grey number theory is a viable methodology for the accurate analysis of uncertain structural system. Originality/value (1) The model of uncertain wiper structural system is established. (2) Universal grey number theory and new parameters are adopted to analyze the presence of uncertain wiper structural system. (3) Comparative analysis of response quantities is obtained by interval method, universal grey number theory and enumeration method.

Design and kinematic analysis of new multi-mode mobile parallel mechanism with deployable platform

2022 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
An Ping ◽  
Chunyan Zhang ◽  
Jie Yang
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Design Methodology ◽  
Content Type ◽  
Surveillance Camera ◽  
Data Collector ◽  
Actual Error ◽  
Mobile Process ◽  
Zero Moment ◽  
Multi Mode

Purpose This study aims to make the mobile robot better adapt to the patrol and monitoring in industrial field substation area, a multi-mode mobile carrying mechanism which can carrying data collector, camera and other equipment is designed. Design/methodology/approach Based on the geometric axis analysis and interference analysis, the multi-mode mobile carrying mechanism is designed. The screw constraint topological theory and zero-moment point (ZMP) theory is used to kinematic analysis in mechanism mobile process. Findings The mobile carrying mechanism can realize the folding movement, hexagonal rolling and quadrilateral rolling movement. A series of simulation and prototype experiment results verify the feasibility and actual error of the design analysis. Originality/value The work of this paper provides a mobile carrying mechanism for carrying different data acquisition equipment and surveillance camera in industrial field substation zone. It has excellent folding performance and mobile capabilities. The mobile carrying mechanism reduces the workload of human being and injuries suffered by workers in industrial substation area.

Designing of intake manifold for Formula Student car

2018 ◽  
Vol 15 (3) ◽  
pp. 402-406 ◽  
Author(s):  
Paramjotsingh Sardar ◽  
Arshdeepsingh Sardar
Keyword(s):  
Transient Analysis ◽  
Design Methodology ◽  
Helmholtz Resonator ◽  
Intake Manifold ◽  
Dynamics Analysis ◽  
Steady State Analysis ◽  
Content Type ◽  
Dynamic Events ◽  
Computational Fluid Dynamics Analysis ◽  
Fine Tune

Purpose The purpose of this research was to design an intake manifold which will improve the functioning of the engine. This will improve the acceleration of the car which will help in performing better at the dynamic events at a Formula Student Competition. Design/methodology/approach The approach was to use the Helmholtz resonator theory to find the appropriate runner length for the desired rotation per minute range. Along with this, it is important to ensure that there is minimum flow separation for which computational fluid dynamics analysis was carried out. Findings The research showed that all the processes involved in this system are dynamic, so steady-state analysis is not quite relevant instead transient analysis will help in getting a better idea. Originality/value Majority of research is primarily focused on convergent divergent nozzle, to try and minimize the effect of the restrictor. But to fine-tune the performance of the engine, it is important to consider the effects of runners and plenum so as to choose appropriate runner length and plenum volume.

scholarly journals Vulnerable adults in police custody

2019 ◽  
Vol 22 (1) ◽  
pp. 5-8
Author(s):  
Ian Cummins
Keyword(s):  
Design Methodology ◽  
Research Literature ◽  
Police Custody ◽  
England And Wales ◽  
Content Type ◽  
Increased Risk ◽  
Vulnerable Adults

Purpose The purpose of this paper is to discuss the recent National Appropriate Adult Network (NAAN) report on the role of the appropriate adult. Design/methodology/approach This paper is based on the NAAN report and a review of relevant policy and research literature. Findings There to Help 2 highlights that there are still significant gaps in the provision of appropriate adult schemes across England and Wales. These gaps potentially place vulnerable adults at increased risk. Originality/value This paper is a review of recent research.

Co-workers’ perceptions of and reactions to employee’s involuntary demotion

2019 ◽  
Vol 41 (4) ◽  
pp. 740-757 ◽  
Author(s):  
Sophie Hennekam ◽  
Subramaniam Ananthram ◽  
Steve McKenna
Keyword(s):  
Design Methodology ◽  
Emotional Responses ◽  
Emotional Reaction ◽  
Content Type ◽  
Informational Justice ◽  
Behavioural Responses ◽  
Behavioural Reaction ◽  
Three Stages ◽  
Depth Interviews ◽  
The Way

Purpose The purpose of this paper is to investigate how individuals perceive and react to the involuntary demotion of a co-worker in their organisation. Design/methodology/approach The authors draw on 46 semi-structured in-depth interviews (23 dyads) with co-workers of demoted individuals. Findings The findings suggest that an individual’s observation of the demotion of a co-worker has three stages: their perception of fairness, their emotional reaction and their behavioural reaction. The perception of fairness concerned issues of distributive, procedural, interpersonal and informational justice. The emotional responses identified were feelings of disappointment/disillusion, uncertainty, vulnerability and anger. Finally, the behavioural reactions triggered by their emotional responses included expressions of voice, loyalty, exit and adaptation. Originality/value Perceptions of (in)justice perpetrated on others stimulate emotional and behavioural responses, which impacts organisational functioning. Managers should therefore pay attention to the way a demotion is perceived, not only by those directly concerned, but also by co-workers as observers.

Consumer value creation through WhatsApp use

2019 ◽  
Vol 32 (4) ◽  
pp. 455-471
Author(s):  
Jorge Cruz-Cárdenas ◽  
Jorge Guadalupe-Lanas ◽  
Ekaterina Zabelina ◽  
Andrés Palacio-Fierro ◽  
Margarita Velín-Fárez ◽  
...  
Keyword(s):  
Latin American ◽  
Value Creation ◽  
Emotional Support ◽  
Design Methodology ◽  
Instant Messaging ◽  
Role Performance ◽  
Content Type ◽  
Consumer Value ◽  
Depth Interviews ◽  
Practical Implications

Purpose The purpose of this paper is to understand in-depth how consumers create value in their lives using WhatsApp, the leading mobile instant messaging (MIM) application. Design/methodology/approach The study adopts the perspective of customer-dominant logic (CDL) and uses a qualitative multimethod design involving 3 focus groups and 25 subsequent in-depth interviews. The research setting was Ecuador, a Latin American country. Findings Analysis and interpretation of the participants’ stories made it possible to identify and understand the creation of four types of value: maintaining and strengthening relationships; improving role performance; emotional support; and entertainment and fun. In addition, the present study proposes a conceptual model of consumer value creation as it applies to MIM. Practical implications Understanding the way consumers create value in their lives using MIM is important not only for organizations that offer MIM applications, but also for those companies that develop other applications for mobile phones or for those who wish to use MIM as an electronic word-of-mouth vehicle. Originality/value The current study is one of the first to address the topic of consumer behavior in the use of technologies from the perspective of CDL; this perspective enables an integrated qualitative vision of value creation in which the consumer is the protagonist.

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