Inverse Kinematic modeling of a class of continuum bionic handling arm

Biomimetic is the field of engineering in which biological structures and functions are analyzed and are used as the basis for the design and manufacturing of machines. Insects are the most populated creature and present everywhere in the world and can survive the most hostile environmental situations. IPMC is a smart material which has exhibited a significant bending and tip force after the application of a low voltage. It is light-weighted, flexible, easily actuated, multi-directional applicable and requires simple manufacturing.In this paper,five different contributions are made. Firstly, a two link grasshopper knee joint physical model is presented in which the actuation force required for moving the knee is provided by the IPMC material. This material constitutes one link of the linkage. Secondly,inverse kinematic modelhas been developed for the linkage. Thirdly, the system of equations is solved by proposing solutions to the known transcendental functions with unknown coefficients. Fourthly, wolfram mathematica is employed for thesimulationof the model. Finally,angles, velocity and accelerationof the links are analyzed based on the simulation results. The simulation results show that the tibia is displaying a lag in time from the femur verifying that it is operated by the force provided by the femur (IPMC). Also, it verified the flexible nature of the IPMC material through multiple peaks and troughs in the graphs. The angles range of the tibia is found quite admirable and it is believed that the IPMC material can add a new horizon to the manufacturing of small biomimetic equipment and low force actuated manipulators.

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Kinematic Modeling and Error Analysis for a 3DOF Parallel-Link Coordinate Measuring Machine

Materials Science Forum ◽

10.4028/www.scientific.net/msf.532-533.313 ◽

2006 ◽

Vol 532-533 ◽

pp. 313-316 ◽

Cited By ~ 3

Author(s):

De Jun Liu ◽

Hua Qing Liang ◽

Hong Dong Yin ◽

Bu Ren Qian

Keyword(s):

Kinematic Model ◽

Coordinate Measuring Machine ◽

Inverse Kinematic ◽

Differential Method ◽

Error Model ◽

Structural Parameter ◽

Kinematic Modeling ◽

Position Errors ◽

Measuring Machine ◽

Parallel Link

First, the forward kinematic model, the inverse kinematic model and the error model of a kind of coordinate measuring machine (CMM) using 3-DOF parallel-link mechanism are established based on the spatial mechanics theory and the total differential method, and the error model is verified by computer simulation. Then, the influence of structural parameter errors on probe position errors is systematically considered. This research provides an essential theoretical basis for increasing the measuring accuracy of the parallel-link coordinate measuring machine. It is of particular importance to develop the prototype of the new measuring equipment.

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Kontrol Keseimbangan Robot Hexapod EILERO menggunakan Fuzzy Logic

ELKOMIKA Jurnal Teknik Energi Elektrik Teknik Telekomunikasi & Teknik Elektronika ◽

10.26760/elkomika.v9i3.533 ◽

2021 ◽

Vol 9 (3) ◽

pp. 533

Author(s):

IWAN KURNIANTO WIBOWO ◽

DANY PREISTIAN ◽

FERNANDO ARDILLA

Keyword(s):

Fuzzy Logic ◽

Steady State ◽

Balance Control ◽

Inverse Kinematic ◽

Hexapod Robot ◽

Kinematic Modeling ◽

Inclined Plane ◽

Balance System ◽

Data Feedback ◽

Pitch Tilt

ABSTRAKPenelitian dengan topik robot hexapod telah banyak dikembangkan, namun sampai saat ini masih sedikit yang mengulas tentang kontrol keseimbangannya. Permasalahan yang kerap muncul adalah ketika robot berada dalam bidang miring, robot dapat terjatuh jika robot tidak dapat menyeimbangkan badan. Begitu pula dengan robot hexapod EILERO yang telah kami bangun. Untuk mengatasi permasalahan itu, selain pemodelan kinematik dan kinematika terbalik yang tepat, juga diperlukan suatu sistem keseimbangan yang baik. Dalam penelitian ini, kami menggunakan fuzzy logic untuk mengontrol keseimbangan robot EILERO dengan umpan balik data kemiringan dari sebuah sensor IMU. Setelah melalui beberapa pengujian yang komprehensif, didapatkan hasil bahwa robot dapat menyeimbangkan diri pada kondisi kemiringan papan pijakan antara -15° dan 15° pada orientasi kemiringan roll dan pitch. Robot mampu merespon dengan capaian steady state di bawah 3000 ms. Dengan demikian, robot EILERO semakin stabil dalam melintasi bidang yang tidak datar.Kata kunci: hexapod, EILERO, kinematika terbalik, fuzzy logic ABSTRACTResearch on the topic of the hexapod robot has been developed a lot, but until now there is little that has been discussed about balance control. The problem that often arises is that when the robot is on an inclined plane, the robot can fall if the robot cannot balance its body. Likewise with the EILERO hexapod robot that we have built. To solve this problem, besides proper kinematic modeling and inverse kinematic modeling, a good balance system is also needed. In this study, we used fuzzy logic to control the balance of the EILERO robot, with tilt data feedback from an IMU sensor. After going through several comprehensive tests, the results show that the robot can balance itself on the slope of the stepboards between -15 ° and 15 ° in the orientation of roll and pitch tilt. The robot is able to respond with steady state achievements below 3000 ms. Thus, the EILERO robot is increasingly stable in traversing uneven planes.Keywords: hexapod, EILERO, inverse kinematic, fuzzy logic

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A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

Journal of Mechanisms and Robotics ◽

10.1115/1.4045972 ◽

2020 ◽

Vol 12 (2) ◽

Cited By ~ 5

Author(s):

Huiping Shen ◽

Damien Chablat ◽

Boxiong Zeng ◽

Ju Li ◽

Guanglei Wu ◽

...

Keyword(s):

Parallel Mechanism ◽

Design Theory ◽

Degrees Of Freedom ◽

Analytic Solutions ◽

Inverse Kinematic ◽

Kinematic Modeling ◽

Topological Design ◽

Prismatic Joints ◽

Topological Characteristics ◽

Three Degrees Of Freedom

Abstract According to the topological design theory and the method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a three-degrees-of-freedom (3-DOF) translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. First, the main topological characteristics, such as the POC, degree-of-freedom, and coupling degree, were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed, which corresponds to its partial motion decoupling property.

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Workspace Identification of Stewart Platform

International Journal of Engineering and Advanced Technology - Regular Issue ◽

10.35940/ijeat.c5338.029320 ◽

2020 ◽

Vol 9 (3) ◽

pp. 1903-1907

Keyword(s):

Stewart Platform ◽

Inverse Kinematic ◽

Kinematic Modeling ◽

Piston Motion ◽

Platform Motion ◽

Cylinder Piston ◽

Moving Platform ◽

The Individual ◽

Platform Motions

The workspace identification of 6-DOF Stewart Platform has been done in this paper through inverse kinematic modeling. This Stewart Platform has six linear cylinder–piston actuators connected within fixed and the moving platform. The motions of the moving platform such as surge, sway, heave, roll, pitch and yaw have been generated from the combined motions of piston of actuators. The mathematical formulations for Inverse-Kinematic modeling of Stewart Platform have been formulated to find out the individual piston motion for the required platform motion. The platform motions and the actuator motions have been studied for the workspace identification of the Stewart Platform.

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Nine Degree-of-Freedom Kinematic Modeling of the Upper-Limb Complex for Constrained Workspace Evaluation

Journal of Biomechanical Engineering ◽

10.1115/1.4048573 ◽

2020 ◽

Vol 143 (2) ◽

Author(s):

Brayden DeBoon ◽

Ryan C. A. Foley ◽

Scott Nokleby ◽

Nicholas J. La Delfa ◽

Carlos Rossa

Keyword(s):

Upper Limb ◽

Evaluation Method ◽

Kinematic Model ◽

Joint Space ◽

Inverse Kinematic ◽

Degree Of Freedom ◽

Kinematic Modeling ◽

Joint Angles ◽

Rehabilitative Treatment ◽

Rehabilitation Devices

Abstract The design of rehabilitation devices for patients experiencing musculoskeletal disorders (MSDs) requires a great deal of attention. This article aims to develop a comprehensive model of the upper-limb complex to guide the design of robotic rehabilitation devices that prioritize patient safety, while targeting effective rehabilitative treatment. A 9 degree-of-freedom kinematic model of the upper-limb complex is derived to assess the workspace of a constrained arm as an evaluation method of such devices. Through a novel differential inverse kinematic method accounting for constraints on all joints1820, the model determines the workspaces in which a patient is able to perform rehabilitative tasks and those regions where the patient needs assistance due to joint range limitations resulting from an MSD. Constraints are imposed on each joint by mapping the joint angles to saturation functions, whose joint-space derivative near the physical limitation angles approaches zero. The model Jacobian is reevaluated based on the nonlinearly mapped joint angles, providing a means of compensating for redundancy while guaranteeing feasible inverse kinematic solutions. The method is validated in three scenarios with different constraints on the elbow and palm orientations. By measuring the lengths of arm segments and the range of motion for each joint, the total workspace of a patient experiencing an upper-limb MSD can be compared to a preinjured state. This method determines the locations in which a rehabilitation device must provide assistance to facilitate movement within reachable space that is limited by any joint restrictions resulting from MSDs.

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