Three-Dimensional Kinematic Analysis of a Two Actuated Spoke Wheel Robot Based on Its Equivalency to a Serial Manipulator

Author(s):  
Ping Ren ◽  
Ya Wang ◽  
Dennis Hong

In this paper, the inverse and forward kinematics of a novel mobile robot that utilizes two actuated spoke wheels is presented. Intelligent Mobility Platform with Active Spoke System (IMPASS) is a wheel-leg hybrid robot that can walk in unstructured environments by stretching in or out three independently actuated spokes of each wheel. First, the unique locomotion scheme of IMPASS is introduced. Then the configuration of the robot when each of its two spoke wheels has one spoke in contact with the ground is modeled as a two-branch parallel mechanism with spherical and prismatic joints. An equivalent serial manipulator of the 2-SP mechanism with the same degrees of freedom is proposed to solve for the inverse and forward kinematic problems. The relationship between the physical limits of the stroke of the spokes (effective spoke length) and the limits of its equivalent degree of freedom is established. This approach can also be expanded to deal with the forward and inverse kinematics of other configurations which has more than two ground contact points. Several examples are used to illustrate the method. The results obtained will be used in the future research on the motion planning of IMPASS walking in unstructured environment.

2012 ◽  
Vol 591-593 ◽  
pp. 2081-2086 ◽  
Author(s):  
Rui Ren ◽  
Chang Chun Ye ◽  
Guo Bin Fan

A particular subset of 6-DOF parallel mechanisms is known as Stewart platforms (or hexapod). Stewart platform characteristic analyzed in this paper is the effect of small errors within its elements (strut lengths, joint placement) which can be caused by manufacturing tolerances or setting up errors or other even unknown sources to end effector. The biggest kinematics problem is parallel robotics which is the forward kinematics. On the basis of forward kinematic of 6-DOF platform, the algorithm model was built by Newton iteration, several computer programs were written in the MATLAB and Visual C++ programming language. The model is effective and real-time approved by forwards kinematics, inverse kinematics iteration and practical experiment. Analyzing the resource of error, get some related spectra map, top plat position and posture error corresponding every error resource respectively. By researching and comparing the error spectra map, some general results is concluded.


Author(s):  
Yanwen Li ◽  
Yueyue Zhang ◽  
Lumin Wang ◽  
Zhen Huang

This paper investigates a novel 4-DOF 3-RRUR parallel manipulator, the number and the characteristics of its degrees of freedom are determined firstly, the rational input plan and the invert and forward kinematic solutions are carried out then. The corresponding numeral example of the forward kinematics is given. This type of parallel manipulators has a symmetrical structure, less accumulated error, and can be used to construct virtual-axis machine tools. The analysis in this paper will play an important role in promoting the application of such manipulators.


2021 ◽  
Author(s):  
Ben Serrien ◽  
Klevis Aliaj ◽  
Todd Pataky

Marker-based inverse kinematics (IK) is prone to errors arising from measurementnoise and soft-tissue artefacts. Various least-squares and Bayesian methods canbe applied to limit the estimation error to a minimum. Recently proposed meth-ods like Bayesian IK come at an increased computational cost however. In thistechnical paper, we present an overview of eight different least squares or BayesianIK methods, including their accuracy and computational load for IK problemsinvolving a single rigid body and three rotational degrees-of-freedom, whose at-titude is estimated from four noisy marker positions. The results indicate thatNon-Linear Least Squares, Variational Bayesian and full Bayesian IK are supe-rior to Singular Value Decomposition in terms of accuracy, with approximatelya two-fold error reduction. However, only Non-Linear Least Squares and Varia-tional Bayesian IK are computationally efficient enough to scale towards practicaluse in biomechanical applications, with computational durations of 1-10 ms; fullyBayesian procedures required approximately 30 s for single rotation calculations.All Python code and supplementary material can be found in this paper’s GitHubrepository: https://github.com/benserrien/pybik.


Author(s):  
Hideaki Takanobu

A five degrees-of-freedom (5-DOF) robot manipulator is used for the basic learning of mechanical system engineering. Students learned the forward kinematics as concrete applications of the mathematics, especially linear algebra. After making a manipulator, baton relay contest was done to understand the inverse kinematics by controlling the manipulator using a manual controller having five levers.


Author(s):  
Yangmin Li ◽  
Qingsong Xu

A novel three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are investigated in details afterwards. Under different cases of physical constraints imposed by mechanical joints, the reachable workspace of the manipulator is geometrically generated and compared. Especially, it is illustrated that the manipulator in principle possesses a fairly regular like workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, the singularity within the usable workspace is verified, and simulation results show that there exist no any singular configurations within the specified workspace. Therefore, the presented new manipulator has a great potential for high precision industrial applications such as assembly, machining, etc.


2013 ◽  
Vol 690-693 ◽  
pp. 2978-2981 ◽  
Author(s):  
Jian Zhong Zhang ◽  
Xin Peng Xie ◽  
Chuan Jin Li ◽  
Ying Ying Xin ◽  
Zhao Ming He

This paper describes a parallel three degrees of freedom delta mechanism used for pick-and-place. It has the advantages of simple integral structure, strong bearing capacityhigh precisionkinematics and dynamics performance. According to this mechanism wide development prospect, the company study on the inverse kinematics inverse dynamics analysis and the static analysis by using ANSYS finite element analysis Software of Delta. These analyses have laid a good theoretical foundation for future research. These researches provide possible for widely used in foodpackingautomated assembly line occasions of small and medium-sized enterprises.


2012 ◽  
Vol 4 (4) ◽  
Author(s):  
Oded Salomon ◽  
Alon Wolf

Hyper-redundant robots (HRR) have many more degrees of freedom (DOF) than required, which enable them to handle more constraints, such as those present in highly convoluted volumes. Consequently, they can serve in many robotic applications, while extending the reachability and maneuverability of the operator. Many degrees of freedom that furnish the HRR with its wide range of capabilities also provide its major challenges: mechanism design, control, and path planning. In this paper, we present a novel design of a HRR composed of 16DOF. The HRR is composed of two concentric structures: a passive backbone and an exoskeleton which carries self-weight as well as external loads. The HRR is 80 cm long, 7.7 cm in diameter, achieves high rigidity and accuracy and is capable of 180 deg bending. The forward kinematics of the HRR is presented along with the inverse kinematics of a link.


1999 ◽  
Vol 121 (2) ◽  
pp. 235-240 ◽  
Author(s):  
B. J. Choi ◽  
S. V. Sreenivasan ◽  
P. W. Davis

It has been shown in previous work that when two wheels independently joined by a fixed-length axle are placed on an uneven surface, such that the line joining the wheel contact points is not coplanar with the axle, rolling without slip is possible only if the wheels are driven at the same speed. Otherwise, the wheels must slip against the terrain due to kinematic constraints. Based on analytical kinematics, it is shown in this article that a method to prevent slip on uneven terrain is to use a variable length axle. This research explores the instantaneous and gross motion of two wheels joined by a variable length axle on uneven terrain. Next, the overall range of the axle length change is investigated through numerical simulations. Based on the results from the simulation, a novel variable length axle that possesses no prismatic joints, hence has low friction, and has high stiffness has been designed. Experimental results are obtained for the axle length change as a three wheeled laboratory prototype that includes the variable length axle travels on a smooth uneven surface. These experiments verify the kinematic model. Limitations of using an unactuated variable length axle and related future research topics are also discussed.


2015 ◽  
Vol 137 (12) ◽  
Author(s):  
Adrián Peidró ◽  
José María Marín ◽  
Arturo Gil ◽  
Óscar Reinoso

This paper analyzes the multiplicity of the solutions to forward kinematics of two classes of analytic robots: 2RPR-PR robots with a passive leg and 3-RPR robots with nonsimilar flat platform and base. Since their characteristic polynomials cannot have more than two valid roots, one may think that triple solutions, and hence nonsingular transitions between different assembly modes, are impossible for them. However, the authors show that the forward kinematic problems of these robots always admit quadruple solutions and obtain analytically the loci of points of the joint space where these solutions occur. Then, it is shown that performing trajectories in the joint space that enclose these points can produce nonsingular transitions, demonstrating that it is possible to design simple analytic parallel robots with two and three degrees-of-freedom (DOF) and the ability to execute these transitions.


2015 ◽  
Vol 3 (2) ◽  
pp. 157
Author(s):  
Kyriakos Charalampous ◽  
Constantinos M Kokkinos

The purpose of the present paper was to review the extant research on Classroom Psycho-Social Climate (CPSC), in order to underscore and resolve misconceptions, contradictions, and deficiencies, as well as to critically present two of its most important research accomplishments: (a) the construction of a plethora of valid and reliable research instruments to measure the construct of CPSC in various learning environments and at different educational levels, and (b) the association of CPSC with cognitive and affective learning outcomes. The definitions proposed for CPSC are generally characterized by ambiguity. Yet, most researchers agree that the CPSC represents a multidimensional construct, the defining indicators of which, tend to be statistically confirmed in most studies, while at the same time new ones are added, thus providing the construct with a dynamic status. Various theories have been proposed to conceptualize CPSC, the most acknowledged being that of Lewin’s (1936) Field Theory, Murray’s (1938) Needs-Press model, and Getzel and Thelen’s (1960) Socio-Psychological Theory. Two independent research programs and their enduring theoretical and empirical legacy signaled the new era in CPSC research. Rudolf Moos proposed a three-dimensional structure descriptive of all psycho-social climates regardless of the social context (school classrooms, correctional institutions, military facilities, etc.) (1974), and Herbert Walberg demonstrated that students’ were in position to make valid inferences regarding CPSC (1969). Contemporary CPSC research has revealed some methodological issues which need to be taken into consideration when designing CPSC studies. One of the most remarkable achievements of CPSC research is the development of many valid and widely used research instruments for measuring CPSC in various educational contexts and at different educational levels. These instruments reflect the expansion of CPSC research in terms of the integration of new conceptual dimensions, as well as the widening of the age level of students to whom they are addressed. However, despite the increased production of mixed-methods studies in contemporary CPSC research, the cross-cultural adaptation of CPSC instruments, especially those addressing elementary students, has resulted in ambiguous findings. Moreover, whereas most CPSC instruments are based on Moos’s three-dimensional proposal, empirical findings support different allocation of the subscales in these dimensions than the scale developers. Another significant outcome of CPSC research is the examination of the association of CPSC with students’ cognitive and affective learning outcomes. Indeed, empirical findings support the link between the CPSC and various learning outcomes, such as academic achievement, attitudes, self-efficacy, motivation, self-handicapping, and students’ emotional and cognitive involvement. In addition, contemporary CPSC research has examined different paths through which CPSC affects student outcomes. For example, researchers have shown that self-efficacy and achievement goals mediate the relationship between CPSC and student outcomes, such as academic achievement, emotional involvement, etc. Nonetheless, and despite the extended investigation of the relationship between CPSC and student outcomes, research has failed to present consistent evidence with regards to the effect of specific CPSC indicators on student outcomes. What’s more, in cases where CPSC indicators presented negative associations with student outcomes, the explanations provided were insufficient, whereas follow up investigations did not take place. Of course CPSC research has followed other fruitful directions which are also presented in this review. Practical implications of CPSC research findings and future research directions are also discussed.


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