Analysis of Interference Zone for Dual-Arm Robots

1995 ◽  
Author(s):  
Li Ju Xu ◽  
Qiang Wang ◽  
Jin Yao ◽  
Xiao Yu An
Keyword(s):  
Analytical Method ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Numerical Example ◽  
Revolute Joints ◽  
Time Zones ◽  
Prismatic Joints ◽  
Dual Arm Robot ◽  
Dual Arm ◽  
Three Dimensional Space

Abstract An analytical method to evaluate time zones of interference for a dual-arm robot is presented with the consideration of shape and volume of links in the case, when the robot arms move along two given continuous trajectories in three-dimensional space respectively. The formulations and criteria to determine interference zones are derived. The method is applicable to general dual-arm robots with not only revolute joints, but also prismatic joints. A numerical example is presented for illustration.

A fast procedure for computing incremental growth distances

Robotica ◽  
2000 ◽  
Vol 18 (4) ◽  
pp. 429-441 ◽  
Author(s):  
Sun-Mog Hong ◽  
Joon-Hyuek Yeo ◽  
Hae-Wook Park
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Numerical Procedure ◽  
Computation Time ◽  
Interference Detection ◽  
Geometric Complexity ◽  
Numerical Example ◽  
Incremental Growth ◽  
Fast Procedure ◽  
Three Dimensional Space

A fast numerical procedure is presented for computing growth distances between a pair of polytopes in three dimensional space that move incrementally along specified smooth paths. The procedure carrys out the growth distance evaluations efficiently by predicting and verifying contact configurations between a pair of grown polytopes. In the prediction and verification the procedure uses vertex and facial characterizations of polytopes and exploits their geometric adjacency information. The computation time, in average, is very small and does not depend significantly on the geometric complexity of two polytopes. A numerical example is presented to demonstrate the applicability of the procedure to interference detection in robotic simulations.

From 5-SS Platform Linkage to Four-Revolute Jointed Planar, Spherical and Bennett Mechanisms

2016 ◽  
Author(s):  
Xin Ge ◽  
A. Purwar ◽  
Q. J. Ge
Keyword(s):  
Null Space ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Numerical Examples ◽  
Revolute Joints ◽  
Novel Approach ◽  
Design Variables ◽  
Moving Points ◽  
Unified Algorithm ◽  
Three Dimensional Space

Recently, we developed a novel approach to the problem of geometric design of 5-SS platform linkages such that its moving points are constrained on a sphere or a plane. Dual quaternions are used to obtain the bilinear design equations with seven design variables, which can be further recast into a linear equation with 16 design variables with a set of simple proportional relationships. This leads to a novel algorithm that reduces the kinematic design problem to that of null space analysis followed by a generalized eigenvalue problem. In this paper, we show that the same approach leads to a unified algorithm for synthesizing planar, spherical and spatial Bennet mechanisms with four revolute joints as over-constrained four-revolute jointed mechanisms in three dimensional space. Numerical examples are given in the end.

scholarly journals AN ANALYTICAL METHOD TO FIND WORKSPACE OF A ROBOTIC MANIPULATOR

1970 ◽  
Vol 41 (1) ◽  
pp. 25-30 ◽  
Author(s):  
Khushdeep Goyal ◽  
Davinder Sethi
Keyword(s):  
Analytical Method ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Singular Behavior ◽  
Singular Surfaces ◽  
Rank Deficiency ◽  
Kinematic Chains ◽  
Constraint Equations ◽  
Robot Wrist ◽  
Three Dimensional Space

The workspace of a Robot is determined by an analytical method. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation for serial kinematic chains. This method is based upon analytical criteria for determining singular behavior of the mechanism. By manipulating the Jacobian of the robot by the row rank deficiency condition, the singularities are computed. Then these singularities are substituted into the constraint equations to parameterize singular surfaces. The boundary conditions of the joints are substituted to obtain the other set of singularities. These singularities are substituted in the wrist vector to obtain the range of motion of the robot wrist in three dimensional space, which is the workspace of the Robot. These singularities are plotted in Matlab to develop all the surfaces enveloping the workspace of the Robot. The priactical examples of RV-M1 MITSIBUSHI ROBOT and 3 DOF spatial manipulator are treated with this method.Key Words: Jacobian; Workspace; Singularities; Degree of freedomDOI: 10.3329/jme.v41i1.5359Journal of Mechanical Engineering, Vol. ME 41, No. 1, June 2010 25-30

Extension of the Spatial PDI Model to Three Dimensions

1997 ◽  
Vol 84 (1) ◽  
pp. 176-178
Author(s):  
Frank O'Brien
Keyword(s):  
Population Density ◽  
Dimensional Space ◽  
Finite Lattice ◽  
Three Dimensional ◽  
Upper Bounds ◽  
Three Dimensions ◽  
Lower And Upper Bounds ◽  
Density Index ◽  
Three Dimensional Space

The author's population density index ( PDI) model is extended to three-dimensional distributions. A derived formula is presented that allows for the calculation of the lower and upper bounds of density in three-dimensional space for any finite lattice.

A Peptoid with Extended Shape in Water

2019 ◽  
Author(s):  
Jumpei Morimoto ◽  
Yasuhiro Fukuda ◽  
Takumu Watanabe ◽  
Daisuke Kuroda ◽  
Kouhei Tsumoto ◽  
...  
Keyword(s):  
Spectroscopic Analysis ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Biomolecular Recognition ◽  
Biological Application ◽  
New Class ◽  
Proteolytic Resistance ◽  
Pharmacokinetic Properties ◽  
Optically Pure ◽  
Three Dimensional Space

<div> <div> <div> <p>“Peptoids” was proposed, over decades ago, as a term describing analogs of peptides that exhibit better physicochemical and pharmacokinetic properties than peptides. Oligo-(N-substituted glycines) (oligo-NSG) was previously proposed as a peptoid due to its high proteolytic resistance and membrane permeability. However, oligo-NSG is conformationally flexible and is difficult to achieve a defined shape in water. This conformational flexibility is severely limiting biological application of oligo-NSG. Here, we propose oligo-(N-substituted alanines) (oligo-NSA) as a new peptoid that forms a defined shape in water. A synthetic method established in this study enabled the first isolation and conformational study of optically pure oligo-NSA. Computational simulations, crystallographic studies and spectroscopic analysis demonstrated the well-defined extended shape of oligo-NSA realized by backbone steric effects. The new class of peptoid achieves the constrained conformation without any assistance of N-substituents and serves as an ideal scaffold for displaying functional groups in well-defined three-dimensional space, which leads to effective biomolecular recognition. </p> </div> </div> </div>

scholarly journals Quantitative image analysis of microbial communities with BiofilmQ

2021 ◽  
Author(s):  
Raimo Hartmann ◽  
Hannah Jeckel ◽  
Eric Jelli ◽  
Praveen K. Singh ◽  
Sanika Vaidya ◽  
...  
Keyword(s):  
Image Analysis ◽  
Microbial Communities ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Software Tool ◽  
Image Cytometry ◽  
Quantitative Image Analysis ◽  
Space And Time ◽  
Quantitative Image ◽  
Three Dimensional Space

AbstractBiofilms are microbial communities that represent a highly abundant form of microbial life on Earth. Inside biofilms, phenotypic and genotypic variations occur in three-dimensional space and time; microscopy and quantitative image analysis are therefore crucial for elucidating their functions. Here, we present BiofilmQ—a comprehensive image cytometry software tool for the automated and high-throughput quantification, analysis and visualization of numerous biofilm-internal and whole-biofilm properties in three-dimensional space and time.

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