An Analytical Method for Locating Velocity Instantaneous Centers

1992 ◽  
Author(s):  
Hong-Sen Yan ◽  
Meng-Hui Hsu
Keyword(s):  
Analytical Method ◽  
Degrees Of Freedom ◽  
Coefficient Matrix ◽  
Multiple Degrees Of Freedom ◽  
Singular Configurations ◽  
Special Cases

Abstract An analytical method is presented for locating all velocity instantaneous centers of linkage mechanisms with single or multiple degrees of freedom. The method is based on the fact that the coefficient matrix of the derived velocity equations for vector loops, independent inputs, and instantaneous centers is singular. This approach also works for special cases with kinematic indeterminacy or singular configurations.

Singularity Analysis of Serial Robot-Manipulators

1996 ◽  
Vol 118 (4) ◽  
pp. 520-525 ◽  
Author(s):  
A. Karger
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Singularity Analysis ◽  
Singular Set ◽  
Singular Configurations ◽  
Special Cases ◽  
Serial Robot ◽  
Singular Configuration ◽  
Actual Configuration

This paper is devoted to the description of the set of all singular configurations of serial robot-manipulators. For 6 degrees of freedom serial robot-manipulators we have developed a theory which allows to describe higher order singularities. By using Lie algebra properties of the screw space we give an algorithm, which determines the degree of a singularity from the knowledge of the actual configuration of axes of the robot-manipulator only. The local shape of the singular set in a neighbourhood of a singular configuration can be determined as well. We also solve the problem of escapement from a singular configuration. For serial robot-manipulators with the number of degrees of freedom different from six we show that up to certain exceptions singular configurations can be avoided by a small change of the motion of the end-effector. We also give an algorithm which allows to determine equations of the singular set for any serial robot-manipulator. We discuss some special cases and give examples of singular sets including PUMA 560.

scholarly journals Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom

Micromachines ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 444
Author(s):  
Guoning Si ◽  
Liangying Sun ◽  
Zhuo Zhang ◽  
Xuping Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Three Dimensional ◽  
Polyimide Film ◽  
Zebrafish Embryos ◽  
Multiple Degrees Of Freedom ◽  
Electrothermal Actuator ◽  
3D Space ◽  
Pick And Place

This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.

scholarly journals The emerging technology of biohybrid micro-robots: a review

2021 ◽  
Author(s):  
Zening Lin ◽  
Tao Jiang ◽  
Jianzhong Shang
Keyword(s):  
Self Assembly ◽  
Degrees Of Freedom ◽  
High Energy ◽  
Living Cells ◽  
Multiple Degrees Of Freedom ◽  
The Past ◽  
Great Prevalence ◽  
Performance Decline ◽  
High Energy Efficiency ◽  
Living Tissues

Abstract In the past few decades, robotics research has witnessed an increasingly high interest in miniaturized, intelligent, and integrated robots. The imperative component of a robot is the actuator that determines its performance. Although traditional rigid drives such as motors and gas engines have shown great prevalence in most macroscale circumstances, the reduction of these drives to the millimeter or even lower scale results in a significant increase in manufacturing difficulty accompanied by a remarkable performance decline. Biohybrid robots driven by living cells can be a potential solution to overcome these drawbacks by benefiting from the intrinsic microscale self-assembly of living tissues and high energy efficiency, which, among other unprecedented properties, also feature flexibility, self-repair, and even multiple degrees of freedom. This paper systematically reviews the development of biohybrid robots. First, the development of biological flexible drivers is introduced while emphasizing on their advantages over traditional drivers. Second, up-to-date works regarding biohybrid robots are reviewed in detail from three aspects: biological driving sources, actuator materials, and structures with associated control methodologies. Finally, the potential future applications and major challenges of biohybrid robots are explored. Graphic abstract

scholarly journals Integrated structured light architectures

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Randy Lemons ◽  
Wei Liu ◽  
Josef C. Frisch ◽  
Alan Fry ◽  
Joseph Robinson ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Temporal Distribution ◽  
Multiple Degrees Of Freedom ◽  
Beam Combination ◽  
Angular Momenta ◽  
Field Control ◽  
Topological States ◽  
Spatio Temporal ◽  
Temporal Field ◽  
Structural Versatility

AbstractThe structural versatility of light underpins an outstanding collection of optical phenomena where both geometrical and topological states of light can dictate how matter will respond or display. Light possesses multiple degrees of freedom such as amplitude, and linear, spin angular, and orbital angular momenta, but the ability to adaptively engineer the spatio-temporal distribution of all these characteristics is primarily curtailed by technologies used to impose any desired structure to light. We demonstrate a laser architecture based on coherent beam combination offering integrated spatio-temporal field control and programmability, thereby presenting unique opportunities for generating light by design to exploit its topology.

scholarly journals Novel piezoelectric crawling robot with multiple degrees of freedom

AIP Advances ◽  
2021 ◽  
Vol 11 (7) ◽  
pp. 075306
Author(s):  
Ruikun Niu ◽  
Yu Guo
Keyword(s):  
Degrees Of Freedom ◽  
Multiple Degrees Of Freedom

scholarly journals BIOMIMETIC DESIGN OF LOW STIFFNESS ACTUATOR SYSTEMS FOR PROSTHETIC LIMBS

2011 ◽  
Author(s):  
D. L. Russell ◽  
M. McTavish
Keyword(s):  
Mechanical Properties ◽  
Degrees Of Freedom ◽  
Analytical Techniques ◽  
Energetic Costs ◽  
Multiple Degrees Of Freedom ◽  
Prosthetic Limbs ◽  
Limb Stiffness ◽  
Human Arm ◽  
Biomimetic Approach ◽  
Low Stiffness

The various relationships that are possible between the mechanical properties of single actuators and the overall mechanism (in this case a human arm with or without a prosthetic elbow) are discussed. Graphical and analytical techniques for describing the range of overall limb stiffnesses that are achievable and for characterizing the overall limb stiffness have been developed. Using a biomimetic approach and, considering energetic costs, stability and complexity, the implications of choosing passive or active implementations of stiffness are discussed. These techniques and approaches are particularly applicable with redundant (agonist - antagonist) actuators and multiple degrees of freedom. Finally, a novel biomimetic approach for control is proposed.

Vibration analysis of multiple degrees of freedom mechanical system with dry friction

2012 ◽  
Vol 227 (7) ◽  
pp. 1505-1514 ◽  
Author(s):  
SD Yu ◽  
BC Wen
Keyword(s):  
Mechanical System ◽  
Dry Friction ◽  
Degrees Of Freedom ◽  
Simple Procedure ◽  
Mathematical Problem ◽  
Equations Of Motion ◽  
Inequality Constraints ◽  
Integration Scheme ◽  
Time Step ◽  
Multiple Degrees Of Freedom

This article presents a simple procedure for predicting time-domain vibrational behaviors of a multiple degrees of freedom mechanical system with dry friction. The system equations of motion are discretized by means of the implicit Bozzak–Newmark integration scheme. At each time step, the discontinuous frictional force problem involving both the equality and inequality constraints is successfully reduced to a quadratic mathematical problem or the linear complementary problem with the introduction of non-negative and complementary variable pairs (supremum velocities and slack forces). The so-obtained complementary equations in the complementary pairs can be solved efficiently using the Lemke algorithm. Results for several single degree of freedom and multiple degrees of freedom problems with one-dimensional frictional constraints and the classical Coulomb frictional model are obtained using the proposed procedure and compared with those obtained using other approaches. The proposed procedure is found to be accurate, efficient, and robust in solving non-smooth vibration problems of multiple degrees of freedom systems with dry friction. The proposed procedure can also be applied to systems with two-dimensional frictional constraints and more sophisticated frictional models.

Analysis of Five-Degree-of-Freedom Robot Arms

1983 ◽  
Vol 105 (1) ◽  
pp. 23-27 ◽  
Author(s):  
K. Sugimoto ◽  
J. Duffy
Keyword(s):  
Arc Welding ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Industrial Robot ◽  
Degree Of Freedom ◽  
Numerical Example ◽  
Robot Arms ◽  
Special Cases ◽  
Computer Controlled ◽  
Five Axes

Many kinds of robot arms with five degrees of freedom are widely used in industry for arc welding, spray painting, assembling etc. It is necessary to be able to compute joint displacements when such devices are computer controlled. A solution to this problem is presented and the analysis is illustrated by a numerical example using the most common industrial robot with five axes. Further, special cases are discussed using screw theory.

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