Automatic Generation of Kinematics and Dynamics Model Descriptions for Modular Reconfigurable Robot Manipulators

2021 ◽  
Author(s):  
Carlo Nainer ◽  
Maddalena Feder ◽  
Andrea Giusti
Keyword(s):  
Robot Manipulators ◽  
Automatic Generation ◽  
Kinematics And Dynamics ◽  
Dynamics Model ◽  
Reconfigurable Robot

A New Method and Automatic Generation for Kinematic Error Analysis of Complex Planar Mechanisms Based on the Ordered Single-Opened-Chains

1996 ◽  
Author(s):  
Song-Qing Shan ◽  
Ting-Li Yang
Keyword(s):  
Error Analysis ◽  
Automatic Generation ◽  
New Method ◽  
Kinematics And Dynamics ◽  
Kinematic Error ◽  
Complex Mechanism ◽  
Dynamics Model ◽  
Planar Mechanisms ◽  
Planar Complex ◽  
Spatial Mechanisms

Abstract This paper presents a new method for kinematic error analysis of planar complex mechanisms, i.e., the ordered single -opened -chains method. This approach is based on the ordered single-opened chains (namely, series binary links, in short, SOCs)and makes use of the properties of SOCs and the network constraint relationships between SOCs. Its mathematical model harmonizes with the structure, kinematics, and dynamics model of mechanisms. The kinematic error analysis equations with few unknown variables can be automatically generated and easily solved. Therefore, any planar complex mechanism can be automatically decomposed into a series of the ordered single-opened-chains and then its kinematic error analysis can be easily completed through this method. Perhaps, the most attractive features of this method are its high automation and convergence in computer implementations. This work describes the principle of the ordered SOC method, introduces its computer automatic generation and compiles the corresponding computer program KEAPL. Two Examples are given at the end of the paper. The proposed method can be easily extended to the kinematic error analysis of the spatial mechanisms.

Micro/Macro or Link-Integrated Micro-actuator Manipulation—A Kinematics and Dynamics Perspective

2006 ◽  
Vol 129 (10) ◽  
pp. 1086-1093 ◽  
Author(s):  
J. Zhang ◽  
J. Rastegar
Keyword(s):  
Dynamic Response ◽  
Closed Loop ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
High Harmonic ◽  
Kinematics And Dynamics ◽  
Control Problems ◽  
End Effector ◽  
Micro Actuators ◽  
And Control

Smart (active) materials based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of robot manipulators and in the reduction of actuator dynamic response requirements. Low harmonic joint and end-effector motions, as well as low actuator dynamic response requirements, are essential for a robot manipulator to achieve high operating speed and precision with minimal vibration and control problems. Micro-actuators may be positioned at the end-effector to obtain a micro- and macro-robot manipulation configuration. Alternatively, micro-actuators may be integrated into the structure of the links to vary their kinematics parameters, such as their lengths during the motion. In this paper, the kinematics and dynamics consequences of each of the aforementioned alternative are studied for manipulators with serial and closed-loop chains. It is shown that for robot manipulators constructed with closed-loop chains, the high harmonic components of all joint motions can be eliminated only when micro-actuators are integrated into the structure of the closed-loop chain links. The latter configuration is also shown to have dynamics advantage over micro- and macro-manipulator configuration by reducing the potential vibration and control problems at high operating speeds. The conclusions reached in this study also apply to closed-loop chains of parallel and cooperating robot manipulators.

The Research on General Modeling Methods of the Complicated Transmission Based on Hypergraph Theory

2011 ◽  
Vol 86 ◽  
pp. 704-708 ◽  
Author(s):  
Chang Le Xiang ◽  
Ying Ying Zhang ◽  
Hui Liu ◽  
Meng Cui
Keyword(s):  
Planetary Gear ◽  
Automatic Generation ◽  
Gear Transmission ◽  
Dynamics Model ◽  
Modeling Methods ◽  
General Dynamics ◽  
Fixed Axis ◽  
Hypergraph Theory ◽  
Complex Transmission ◽  
Conversion Rules

In order to be adapt to the increasingly large complex transmission modeling, this paper propose methods of building generalized modeling through applying hypergraph theory to the complex fixed axis transmission, the planetary gear transmission and the integrated transmission. The author established conversion rules between the real transmission to hypergraph, and found feasibility algorithm for relay route auto search. Hypergraph theory can be further used to realize automatic generation of general dynamics model.

scholarly journals Task Space Trajectory Tracking Control of Robot Manipulators with Uncertain Kinematics and Dynamics

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
Xichang Liang ◽  
Yi Wan ◽  
Chengrui Zhang
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Kinematics And Dynamics ◽  
Task Space ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

To improve the tracking precision of robot manipulators’ end-effector with uncertain kinematics and dynamics in the task space, a new control method is proposed. The controller is based on time delay estimation and combines with the nonsingular terminal sliding mode (NTSM) and adaptive fuzzy logic control scheme. Kinematic parameters are not exactly required with the consideration of kinematic uncertainties in the controller. No dynamic models or numerous parameters of the robot manipulator system are required with the use of TDE. Thus, the controller is simple structure and suitable for practical applications. Furthermore, errors caused by time delay estimation are compensated by the adaptive fuzzy nonsingular terminal sliding mode scheme. The simulation is performed on a 2-DOF robot manipulator with three cases in the task space. The results show that the proposed controller provides faster convergence rate and higher tracking precision than TDE based NTSM and improved TDE based NTSM controller.

scholarly journals Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation

2019 ◽  
Vol 11 (7) ◽  
pp. 168781401986651
Author(s):  
Haitao Luo ◽  
Jia Fu ◽  
Lichuang Jiao ◽  
Guangming Liu ◽  
Changshuai Yu ◽  
...  
Keyword(s):  
Friction Stir Welding ◽  
Simulation Analysis ◽  
Kinematics And Dynamics ◽  
Welding Robot ◽  
Dynamics Model ◽  
Welding Condition ◽  
Friction Stir ◽  
Theoretical Support ◽  
Characteristics Analysis ◽  
New Type

The mechanical configuration, structural composition, and five typical working conditions of a newly developed friction stir welding robot are introduced. The kinematics model of the friction stir welding robot is established and the forward kinematics equations, inverse kinematics equations, and the Jacobian matrix are solved. In addition, the dynamics model of the friction stir welding robot is also built by using the Lagrange method. The centroid position coordinate and inertia matrix of each part are obtained. Finally, the dynamic equation of friction stir welding robot is determined. According to the kinematics and dynamics model of robots, simulation analysis for friction stir welding robot based on virtual prototyping technology was carried out. The trajectory equation of the weld joint under the condition of melon petal welding is established, the spline trajectory is fitted by many discrete points measured by the contact probe, and the trajectory planning of each joint and the changing laws of motion parameters under the friction stir welding robot melon petal welding condition are obtained. The movement laws and the loading conditions of each joint can be better controlled by designers, and provide solid theoretical support for the static and dynamic characteristics analysis and structural optimization of the friction stir welding robot.

A Method for Modular Robots Generating Dynamics Automatically

Robotica ◽  
2001 ◽  
Vol 19 (1) ◽  
pp. 59-66 ◽  
Author(s):  
Yanqiong Fei ◽  
Zigang Zhao ◽  
Libo Song
Keyword(s):  
Group Theory ◽  
Dynamic Model ◽  
Automatic Generation ◽  
Modular Robots ◽  
Recursive Method ◽  
Link Module ◽  
Abstract Architecture ◽  
Reconfigurable Robot

In this paper a method for the automatic generation of dynamics for modular robots is presented. A modular reconfigurable robot consists of link modules and joint modules of various specifications. We analyze the abstract architecture of modular robots. A total of nine types of connecting forms and three types of joint forms are identified with reference to their own systems. The geometric relationships are derived by the group theory. According to the modular idea, the formulations of the velocity, acceleration and other essential equations of the link module and the joint module are formed compensatively and recursively. Then the dynamic model is generated automatically by a compensative and recursive method.

Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics

2009 ◽  
Vol 419-420 ◽  
pp. 585-588
Author(s):  
Li Quan Li ◽  
Jin Li Wang ◽  
Yong Gang Pang
Keyword(s):  
Analytic Solution ◽  
Movement Control ◽  
Design Stage ◽  
Kinematics And Dynamics ◽  
Dynamics Model ◽  
Ideal Model ◽  
Control Stage ◽  
Simulation Calculation ◽  
Dynamics Calculation ◽  
Dynamics Method

Kinematics and dynamics calculation is meaningful both in the design stage and the movement control stage of a manipulator. After the comparison among different methods of manipulator kinematics and dynamics，this paper adopts homogeneous coordinate transformation to analyze and research positive solutions of the space 5-DOF manipulator kinematics, applies mathematics in the approximate calculation to solve the equations’ inverse problems because of the explicit difficult nature to derive analytic solution; conducts dynamics analysis to the manipulator and adopts the Lagrange dynamics method to establish an ideal model, i.e., a dynamics model integrating with corresponding computer algorithm without considering the influences of friction force, to complete the research on the simulation calculation of dynamics inverse solution.

Task-based optimization of reconfigurable robot manipulators

2017 ◽  
Vol 31 (16) ◽  
pp. 836-850 ◽  
Author(s):  
Jason A. Kereluk ◽  
M. Reza Emami
Keyword(s):  
Robot Manipulators ◽  
Reconfigurable Robot
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