Research of a static balance method for a quadruped robot walking on a slope

Author(s):  
Zhang Wen-yu ◽  
Zhang Lei
ROBOT ◽  
2010 ◽  
Vol 32 (2) ◽  
pp. 226-232 ◽  
Author(s):  
Bo HUANG ◽  
Jianwen ZHAO ◽  
Lining SUN

2009 ◽  
Vol 16-19 ◽  
pp. 680-682
Author(s):  
Da Peng Cui ◽  
Ying Xue Yao ◽  
Dong Li Qin

Balance precision of gyroscope rotor influences its performance directly. Aiming at the special gyroscope with a spherical cavity mentioned in this paper, a static balance method is proposed. This method can determine not only radial direction but also axial direction relative position between the mass center of rotor and the centroid of rotor’s outer outline. Combined with outer outline location, which can determine the relative position and direction between the mass center of rotor and the centroid of rotor’s outer outline, the relative position and direction between the centroid of spherical cavity and the centroid of outer outline can be determined, and we will know the position of removal amount.


2012 ◽  
Vol 591-593 ◽  
pp. 1436-1440
Author(s):  
Wen Yu Zhang ◽  
Lei Zhang

Quadruped robot is widely developed on the basis of bionic technology and has good structural stability and flexibility in uneven terrain. It is required of the quadruped robot to keep static balance while transportation task is executed. In this paper, first, the unstable problems during static walking on a slope have been analyzed in detail, and the stability criterion which considering affections of slope walking environment has been proposed. Based on static balance, the falling over problem and tumbling around the line connecting two support feet during gait transition problem have been solved. The gaits are planned to ensure omni-directional stable walking on a slope. Through walking experiments by computer simulation, the validity of the proposed method has been verified.


2013 ◽  
Vol 373-375 ◽  
pp. 282-286 ◽  
Author(s):  
Wen Yu Zhang ◽  
Lei Zhang

Gait planning affects stability, motion speed, and joint torque of quadruped robot etc. Also, it is necessary to consider movement parameters of slope walking environment such as the inclination angle, the movement area of feet and so on. The stability criterion on the basis of center of pressure is chosen to analyze the stability during the movement. Based on static balance, the omni-directional walking of quadruped robot on a slope is planned. CFP is set in order to reduce the transition steps. Then the start and end positions of swinging leg and supporting leg is calculated. The process of gait transition is planned to make sure stable and continuous movement. The experiment verifies the validity of the proposed method.


2012 ◽  
Vol 201-202 ◽  
pp. 83-86 ◽  
Author(s):  
Xu Qin Chen ◽  
Yu Jing Jia ◽  
Guang Zhen Cheng

The purpose of this paper is to explore a practical method of revolving machine’s field balancing and solve problems that the requirement of revolver balancing is high and the process is complicated in practical engineering. The paper introduces balancing principle of rotating machinery’s static balance and dynamic balance based on vibration test, and applicable conditions of different balance method. The paper mainly analyzes implementation steps and operation method of three point method field balancing based on vibration test, indicates points for attention in the process. There is no need for complicated testing equipment, just with common vibration meter, simple and practicable. In addition it is balanced in actual using condition, there won’t be problem that new imbalance comes into being after installation.


2007 ◽  
Vol 10-12 ◽  
pp. 528-532
Author(s):  
H.B. Zhang ◽  
L. Zhou ◽  
Ying Xue Yao

For spherical rotor of gyroscope and some other high speed rotor, static balance is important. The paper introduces a static balance method for spherical rotor: the position of the spherical rotor is fixed by the use of the special clamp apparatus, and then determines the unbalance mass using the electronic balance. This method has no strict requirement to the clamp’s symmetry and dimension and locating precision of the locating hole. The balance precision only depends on the precision of the electronic balance and shape error of the clamp’s locating surface, which makes the balance method has high precision and preferable operability.


Author(s):  
Е. А. Фролов ◽  
В. В. Агарков ◽  
С. И. Кравченко ◽  
С. Г. Ясько

To determine the accuracy of the readjustable punches for separating operations (perforation + punching out) of sheet-metal forming, the accuracy parameters were analyzed using the random balance method using the method of experiment planning. Analytical dependencies are obtained to determine the values of deviation of the outer and inner contour dimensions of perforated and punched out sheet parts. From the dependencies obtained, it is possible to estimate and predict the value of deviation in the dimensions of the resulting part at any time during the operation of the punch. Practical recommendations on the calculation of the actuating dimensions of the working elements (stamping punch, matrix) of readjustable punches are offered.


SIGMA TEKNIKA ◽  
2019 ◽  
Vol 2 (1) ◽  
pp. 20
Author(s):  
Endang Susanti
Keyword(s):  

Robot adalah alat mekanik yang dapat melakukan tugas fisik baik melalui kontrol manusia maupun secara otomatis.. Salah satu contoh yaitu robot quadruped. Robot quadruped merupakan robot yang menirukan anatomi dari laba-laba dalam proses geraknya. Pada perancangan robot quadruped menggunakan module bluetooth hc 05 sebagai pengontrol geraknya yang disingkronkan dengan smartphone sebagai remote controlnya. Robot quadruped juga ditambahkan pengaman berupa sensor utrasonik apabila terputusnya koneksi smarphone dengan robot quadruped, sensor utrasonik mengambil peranan untuk menghindari halagan agar tidak terjadi kerusakan pada robot. Jarak maksimal dari module Bluetooth 10 meter, kettika lebih dari 10 meter, koneksi akan terputus dan tidak dapat tekoneksi kembali Kata kunci: Teknologi, robot, quadruped, module bluetooth, sensor ultrasonik.


2020 ◽  
Vol 23 (12) ◽  
pp. 1356-1382
Author(s):  
E.V. Olomskaya ◽  
A.A. Aksent'ev

Subject. This article discusses the methodological features of Russian Accounting Standard (PBU) 18/02 Income Tax Accounting when using the balance method to account for deferred taxes. It considers whether the clarification of permanent tax differences is justified, and it analyzes in detail the features of accounting for temporary differences and offers a visual and descriptive method for determining and correlating them in accounts. Objectives. The article aims to justify the reason for linking permanent tax differences to such accounting categories as Income and Expenses. It also aims to develop a methodological toolkit that simplifies the perception of the balance method and demonstrates the procedure for determining temporary differences. Methods. For the study, we used the methods of analysis, synthesis, observation, comparison, and other general scientific methods. Results. The article justifies the clarification of permanent differences from the position of accounting categories. It offers an original approach that helps visually classify temporary differences. The formalization of the balance method helped identify the logic of its reflection in accounting statements. Conclusions and Relevance. To ensure that accounting is not distorted due to the impact of taxation, it is necessary to develop a unified conceptual framework, as well as develop existing methods and introduce new ones that do not contradict the public concept of interaction between accounting and tax accounting. The research results are intended for training, scientific and practical activities of specialists in the field of accounting and audit, as well as students studying under this program, in order to study the features of applying the balance method for accounting for deferred taxes.


Sign in / Sign up

Export Citation Format

Share Document