A Family of Biped Mechanisms With Two Revolute and Two Cylindric Joints

2012 ◽  
Vol 4 (4) ◽  
Author(s):  
Chao Liu ◽  
Hui-Hui Yang ◽  
Yan-An Yao
Keyword(s):  
Synthesis Method ◽  
Biped Robot ◽  
Robot Design ◽  
Mechanism Synthesis ◽  
Stability Analyses ◽  
Design Considerations ◽  
Alternative Option ◽  
End To End ◽  
Singular Configuration

A family of biped spatial four-link mechanisms with two revolute and two cylindric joints is proposed in this paper. Three main categories, including eight configurations are put forward. The primary feature of these mechanisms is that they are made up of four links that are connected end to end through two revolute and cylindric joints, and among the links, two of them are designed as feet. These novel configurations are revealed by different methods and ways: The basic configurations are enumerated by traditional mechanism synthesis method; the conventional configurations are obtained by repetitious trial; the unique configurations are accidentally achieved by inspiration or intuition. Each of them has its own characteristic and can be an alternative option for biped robot design. Compared with most of the existing biped mechanisms, these configurations are simpler in structure and thus easier to control. The singular configuration is cleverly used rather than avoided to perform the walking and turning. Their structure descriptions and walking simulations are accomplished. Afterwards, the kinematic and stability analyses are studied, the design considerations are discussed, and foot-workspace analyses are carried out. Finally, four prototypes are developed to preliminary verify the feasibility of these proposed concepts.

Optimal Synthesis of Compliant Mechanisms to Satisfy Kinematic and Structural Requirements: Preliminary Results

1996 ◽  
Author(s):  
Mary I. Frecker ◽  
Noboru Kikuchi ◽  
Sridhar Kota
Keyword(s):  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Synthesis Method ◽  
Design Procedure ◽  
Problem Formulation ◽  
Mechanism Synthesis ◽  
Ground Structure ◽  
Design Problems ◽  
Structural Requirements ◽  
External Loads

Abstract Compliant mechanism synthesis is an automated design procedure which allows the designer to systematically generate the optimal structural form for a particular set of loading and motion requirements. The synthesis method presented here solves a particular class of design problems, where the compliant mechanism is required to be both flexible to meet motion requirements, and stiff to withstand external loads. A two-part problem formulation is proposed using mutual and strain energies, whereby the conflicting design objectives of required flexibility and stiffness are handled via multi-criteria optimization. The resulting compliant mechanism topologies satisfy both kinematic and structural requirements. The problem formulation is implemented using a truss ground structure and SLP algorithm. Several design examples are presented to illustrate this method.

scholarly journals An end-to-end synthesis method for Korean text-to-speech systems

2018 ◽  
Vol 10 (1) ◽  
pp. 39-48 ◽  
Author(s):  
Yeunju Choi ◽  
Youngmoon Jung ◽  
Younggwan Kim ◽  
Youngjoo Suh ◽  
Hoirin Kim
Keyword(s):  
Korean Text ◽  
Synthesis Method ◽  
Text To Speech ◽  
End To End

Synthesis of Rigid-Body Guidance Mechanism with Path and Pose Generation Independently

2014 ◽  
Vol 619 ◽  
pp. 115-120 ◽  
Author(s):  
Jing Shuai Liu ◽  
Song Lin
Keyword(s):  
Rigid Body ◽  
Synthesis Method ◽  
Kinematic Chain ◽  
Practical Method ◽  
Path Generation ◽  
Mechanism Synthesis ◽  
Link Mechanism ◽  
Combination Principle

This paper proposes a practical method for the synthesis of rigid-body guidance mechanism by dividing the guidance task into path and pose generation independently. As a first step, based on the mechanism combination principle, a basic four-bar mechanism for path generation is synthesized and a binary-link is combined to the mechanism for achieving the execute link’s poses, then the potential kinematic chain with ability to realize the desired coupler poses is selected from all of the combination possibilities. And then a strategy by fixing a Cam to the basic four-bar mechanism to control the linkage poses is also proposed. Finally, the Cam’s profile is synthesized and the combined cam-link mechanism is able to guide the coupler through all desired linkage positions. One example is presented to validate the proposed guidance mechanism synthesis method.

Optimal synthesis of pose repeatability for collaborative robots based on the ISO 9283 standard

2019 ◽  
Vol 46 (6) ◽  
pp. 812-818 ◽  
Author(s):  
Mingwei Hu ◽  
Hongguang Wang ◽  
Xinan Pan ◽  
Yong Tian
Keyword(s):  
Synthesis Method ◽  
Random Motion ◽  
Optimal Synthesis ◽  
Robot Design ◽  
Development Cost ◽  
Objective Functions ◽  
Optimal Arrangement ◽  
Motion Error ◽  
Collaborative Robots ◽  
Content Type

Purpose The purpose of this paper is to search the optimal arrangement scheme of random motion accuracy of joints for optimal synthesis of pose repeatability which can make robot design more reasonable and reduce the development cost of robots. Design/methodology/approach In this paper, a mathematical model of pose repeatability, which includes positioning repeatability and orientation repeatability of robots, is established. According to the ISO 9283 standard, an optimal synthesis method of pose repeatability for collaborative robots is introduced, and three optimization objective functions are proposed. The optimization model is solved by using numerical analysis software, and the optimal arrangement scheme of random motion accuracy of joints is obtained which meets the requirements of pose repeatability of robot. Findings It is found that, in three optimization objective functions, the single-objective evaluation function of maximization of joint motion error is more suitable for optimal synthesis of pose repeatability. In practice, due to the safety factor, the test results of pose repeatability are better than the results of optimal synthesis of pose repeatability. Practical implications This method makes robot design more reasonable and reduces the development cost of robots. Originality/value This work is the first time to optimize the orientation repeatability of collaborative robots. Because the pose repeatability of most robots is tested by the ISO 9283 standard, so this method which is based on this standard is more suitable for the performance requirements of robot products.

Auxiliary Axis for Rensselaer’s Geotechnical Centrifuge Center In-Flight Robot: Design Considerations

2007 ◽  
Author(s):  
Glenn Saunders ◽  
Stephen J. Derby ◽  
Tarek H. Abdoun
Keyword(s):  
Soil Samples ◽  
Soil Conditions ◽  
Robot Design ◽  
Deep Soil ◽  
Geotechnical Centrifuge ◽  
Design Considerations ◽  
Earthen Structures ◽  
Laminar Box ◽  
Conducting Research ◽  
Earthquake Simulations

Rensselaer’s Geotechnical Centrifuge Center is a resource for conducting research into the behavior of soils, earthen structures and other materials under high g-force conditions. The 3m radius centrifuge can accelerate a roughly 1m × 1m × 1m payload up to as much as 200 g’s. Under such loading, properly prepared soil samples accurately simulate deep soil conditions at 1 g. The system also includes an In-flight Robot that provides the capability to perform experiments while the centrifuge is in operations, as well as a 2–D shaker and associated 2–D Laminar Box that permit earthquake simulations while in flight. However prior to the implementation of the Auxiliary Axis, pilings were limited to a maximum usable length of approximately 15cm. The objective of Auxiliary Axis is to provide the capability to handle long pilings (up to 35cm) in situations where both the 2–D Shaker and 2–D Laminar Box are used. The Aux Axis is attached to the exterior of the in-flight robot when needed, and removed when not. The Aux Axis is designed to perform in a 50 g’s environment which holds some unique engineering concerns. It is designed so that installation and removal is as simple as possible, and can typically be completed in about 30 minutes. The Aux Axis is powered by the existing robot Z axis motor and belt drive system. Consequently, both the Z axis and the Aux Axis move simultaneously when the Aux Axis is installed. The Aux Axis is geared approximately 8.42 times higher than the Z axis so that it moves much further than the Z axis during operation. This permits the pilings; which are attached to the Aux Axis, to be fully inserted into the soil sample before the Z axis has moved far enough to interfere with the top of the 2–D Laminar Box.

Biped robot design powered by antagonistic pneumatic actuators for multi-modal locomotion

2008 ◽  
Vol 56 (1) ◽  
pp. 46-53 ◽  
Author(s):  
Koh Hosoda ◽  
Takashi Takuma ◽  
Atsushi Nakamoto ◽  
Shinji Hayashi
Keyword(s):  
Biped Robot ◽  
Robot Design ◽  
Pneumatic Actuators

scholarly journals Personal Narratives in Technology Design: The Value of Sharing Older Adults’ Stories in the Design of Social Robots

2021 ◽  
Vol 8 ◽  
Author(s):  
Anastasia K. Ostrowski ◽  
Christina N. Harrington ◽  
Cynthia Breazeal ◽  
Hae Won Park
Keyword(s):  
Older Adults ◽  
Prior Experience ◽  
Personal Narratives ◽  
Social Robots ◽  
Design Knowledge ◽  
Robot Design ◽  
Technology Design ◽  
Design Considerations ◽  
Design Fiction ◽  
Meaningful Data

The storytelling lens in human-computer interaction has primarily focused on personas, design fiction, and other stories crafted by designers, yet informal personal narratives from everyday people have not been considered meaningful data, such as storytelling from older adults. Storytelling may provide a clear path to conceptualize how technologies such as social robots can support the lives of older or disabled individuals. To explore this, we engaged 28 older adults in a year-long co-design process, examining informal stories told by older adults as a means of generating and expressing technology ideas and needs. This paper presents an analysis of participants’ stories around their prior experience with technology, stories shaped by social context, and speculative scenarios for the future of social robots. From this analysis, we present suggestions for social robot design, considerations of older adults’ values around technology design, and promotion of participant stories as sources for design knowledge and shifting perspectives of older adults and technology.

Sign in / Sign up

Export Citation Format

Share Document