Kinematic Analysis of a Five-Legged Mobile Robot

2010 ◽  
Author(s):  
Muhammed R. Pac ◽  
Dan O. Popa
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
The Body ◽  
Legged Robots ◽  
Upper Body ◽  
Design Changes ◽  
Robot Performance ◽  
The Impact

Legged robots are more maneuverable, and can negotiate rough terrain much better than conventional locomotion using wheels. However, since the kinematic or dynamic analysis of such robots involves closed chains, it is typically more difficult to investigate the impact of design changes, such as the number, or the design of its legs, to robot performance. Most legged robots consist of 4 legs (quadrupeds) or 6 legs (hexapods). This paper discusses the kinematic analysis of an unconventional, symmetrical 5-legged robot with 2-DOF (Degrees Of Freedom) universal joints in each leg. The analysis was carried out in order to predict the mobility of the upper body platform, and investigate the number of robot actuators needed for mobility. The product of exponentials formulation with respect to the local coordinate frames is used to describe the twists of the joints. The analysis is based on the idea that the robot body platform along with the legs can be considered instantaneously as a parallel robot manipulating the ground. Hence, the analysis can be done using the Jacobian formulation of parallel robots. Simulation results confirm the mobility analysis that the robot can have at most 3-DOF for the body and that these freedoms are coupled rotations and translations in 3D space also with a dependence on the configuration of the robot.

Six degrees of freedom parallel robots with C5 links

Robotica ◽  
1992 ◽  
Vol 10 (1) ◽  
pp. 35-44 ◽  
Author(s):  
Y. Amirat ◽  
F. Artigue ◽  
J. Pontnau
Keyword(s):  
Automotive Industry ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Architecture ◽  
Parallel Robot ◽  
Parallel Architectures ◽  
Parallel Robots ◽  
Left Hand ◽  
Six Degrees Of Freedom ◽  
Assembly Tasks

SummaryThis paper presents at first a static and kinematic analysis of closed chains mechanisms which permits to deduce different possible fully parallel architectures. Then we focus on a particular parallel architecture with C5 links designed to perform precise assembly tasks. A general modeling of this C5 parallel robot is presented. Two typical assembly tasks in the automotive industry are also proposed; the first one uses the C5 links parallel robot as a left-hand device, while the second one uses it as the terminal tool of a sequential manipulator.

The QuadroG Robot, a Parallel Robot With a Configurable Platform for Haptic Applications

2015 ◽  
Author(s):  
Salua Hamaza ◽  
Patrice Lambert ◽  
Marco Carricato ◽  
Just Herder
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
Contact Points ◽  
Loop Chain ◽  
End Effectors ◽  
4 Degrees Of Freedom

This paper explores the fundamentals of parallel robots with configurable platforms (PRCP), as well as the design and the kinematic analysis of those. The concept behind PRCP is that the rigid (non-configurable) end-effector is replaced by a closed-loop chain, the configurable platform. The use of a closed-loop chain allows the robot to interact with the environment from multiple contact points on the platform, which reflects the presence of multiple end-effectors. This results in a robot that successfully combines motion and grasping capabilities into a structure that provides an inherent high stiffness. This paper aims to introduce the QuadroG robot, a 4 degrees of freedom PRCP which finely merges planar motion together with grasping capabilities.

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Hamed Khakpour ◽  
Lionel Birglen ◽  
Souheil-Antoine Tahan
Keyword(s):  
Kinematic Analysis ◽  
Design Methodology ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Cable Robot ◽  
Proper Design ◽  
Two Indices ◽  
Three Degrees Of Freedom ◽  
Cable Robots

In this paper, a new three degrees of freedom (DOF) differentially actuated cable parallel robot is proposed. This mechanism is driven by a prismatic actuator and three cable differentials. Through this design, the idea of using differentials in the structure of a spatial cable robot is investigated. Considering their particular properties, the kinematic analysis of the robot is presented. Then, two indices are defined to evaluate the workspaces of the robot. Using these indices, the robot is subsequently optimized. Finally, the performance of the optimized differentially driven robot is compared with fully actuated mechanisms. The results show that through a proper design methodology, the robot can have a larger workspace and better performance using differentials than the fully driven cable robots using the same number of actuators.

Modelling and Simulation of a Isoglide T3R1 Parallel Robot

2010 ◽  
Vol 166-167 ◽  
pp. 457-462
Author(s):  
Dan Verdes ◽  
Radu Balan ◽  
Máthé Koppány
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Practical Implementation ◽  
Medical Robots ◽  
The Past ◽  
And Control ◽  
Workspace Design ◽  
Human Systems

Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots have received considerable attention from both researchers and manufacturers over the past years because of their potential for high stiffness, low inertia and high speed capability. Therefore, the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.

Nonlinear dynamics of flexible links in planar parallel robots using a new beam element

2020 ◽  
Vol 26 (7-8) ◽  
pp. 475-489
Author(s):  
Mahdi Sharifnia
Keyword(s):  
Slope Angle ◽  
Main Idea ◽  
Parallel Robot ◽  
Beam Element ◽  
Parallel Robots ◽  
The Body ◽  
Inverse Dynamic ◽  
Two Parameters ◽  
Euler Bernoulli Beam ◽  
Similar Elements

In the present research, a previously presented beam element in planar static problems is extended to planar dynamic problems. As investigated in the previous work of the author, formulation of the presented Euler–Bernoulli beam element is simpler and the beam element more efficient than similar elements in large deflection problems. In the present element, the main idea is estimating the dimensions of the body in the deformed configuration, instead of estimating its absolute or relative positions. Therefore, two parameters, the length and slope angle of the beam centroid curve, are selected to be estimated by interpolating polynomials. To verify the efficiency of the element, obtained results for the flexible pendulum are compared with previous works. Because of the simple and efficient formulation of the element, it can be efficiently used for dynamic analysis of planar flexible linkages, and especially in flexible parallel robots, which are the main aims of the present research. Finally, the inverse dynamic of the flexible 3-RRR parallel robot is presented.

Theoretical Study of the Water Entry of a Body in Waves: Application to Safety of Occupants in Free-Fall Lifeboats

2009 ◽  
Author(s):  
Thomas Sauder ◽  
Se´bastien Fouques
Keyword(s):  
Water Waves ◽  
Degrees Of Freedom ◽  
Mass Matrix ◽  
Free Fall ◽  
Theoretical Method ◽  
Emergency Evacuation ◽  
Momentum Conservation ◽  
The Body ◽  
Water Impact ◽  
The Impact

The safety of occupants in free-fall lifeboats (FFL) during water impact is addressed. The first part of the paper describes a theoretical method developed to predict the trajectory in six degrees of freedom of a body entering water waves. Slamming forces and moments are computed, based on momentum conservation, long wave approximation and a von Karman type of approach. The added mass matrix of the body is evaluated for impact conditions by a boundary element method. The second part of the paper focuses on the application of the method to free-fall lifeboats, which are used for emergency evacuation of oil platforms or ships. Acceleration loads on FFL occupants during water impact are dependent on numerous parameters, especially the hull shape, the mass distribution, the wave heading relative to the lifeboat, and the impact point on the wave surface. Assessing operational limits of FFL by means of model tests only has therefore been costly and time consuming. This issue is addressed here by applying the theoretical method described in the first part. The model has been validated for FFL through extensive model testing in calm water and regular waves, and statistical estimates of acceleration levels for lifeboat occupants, as well as acceleration time series were obtained that can be used as inputs to numerical human response models.

A Novel 3-DOF Parallel Robot and its Kinematic Analysis

2014 ◽  
Vol 607 ◽  
pp. 759-763
Author(s):  
Xiao Bo Liu ◽  
Xiao Dong Yuan ◽  
Xiao Feng Wei ◽  
Wei Ni
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
The Novel ◽  
Forward Displacement ◽  
Simulation Based ◽  
Simulation Results

This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

Type synthesis of coordinated multi-robot system based on parallel thought

2018 ◽  
Vol 42 (2) ◽  
pp. 164-176 ◽  
Author(s):  
Wanqiang Xi ◽  
Bai Chen ◽  
Yaoyao Wang ◽  
Feng Ju
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Type Synthesis ◽  
World Coordinate System ◽  
Coordination System ◽  
Branched Chain ◽  
Branched Chains ◽  
Multi Robot

For the synthesis of the required type about the multi-robot coordination system in industrial transportation, this paper presents a novel method in which each robot in the coordinated task is viewed as a branched chain of an equivalent parallel robot (EPR), which is converted into a problem for type synthesis of parallel robots. A theoretic method is proposed to represent the kinematic features of the mechanism’s end-effector and its position and pose in the world coordinate system. The basic concept of a robotic characteristic (C) set is given, and the corresponding algorithm is analyzed. Based on the theory of C set, the concrete steps for type synthesis of EPR are presented by analyzing the characteristics of its branched chains, and many EPR groups with end kinematic features for the C sets of the operational tasks are obtained. Then three translational (3T) operational requirements that can be extended to other degrees of freedom (DOF) are adopted, and the DOF of homogeneous and heterogeneous EPR are analyzed using screw theory. Finally the validation of the method is demonstrated by Adams, which shows that the two groups are able to complete the task.

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Sven Lilge ◽  
Kathrin Nuelle ◽  
Georg Boettcher ◽  
Svenja Spindeldreier ◽  
Jessica Burgner-Kahrs
Keyword(s):  
Recent Work ◽  
Constant Curvature ◽  
Kinematic Analysis ◽  
Flexible Structures ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Continuum Robots ◽  
Advantages And Disadvantages ◽  
Reference Design ◽  
Exact Quantification

Abstract The use of continuous and flexible structures instead of rigid links and discrete joints is a growing field of robotics research. Recent work focuses on the inclusion of continuous segments in parallel robots to benefit from their structural advantages, such as a high dexterity and compliance. While some applications and designs of these novel parallel continuum robots have been presented, the field remains largely unexplored. Furthermore, an exact quantification of the kinematic advantages and disadvantages when using continuous structures in parallel robots is yet to be performed. In this paper, planar parallel robot designs using tendon actuated continuum robots instead of rigid links and discrete joints are proposed. Using the well-known 3-RRR manipulator as a reference design, two parallel continuum robots are derived. Inverse and differential kinematics of these designs are modeled using constant curvature assumptions, which can be adapted for other actuation mechanisms than tendons. Their kinematic performances are compared to the conventional parallel robot counterpart. On the basis of this comparison, the advantages and disadvantages of using continuous structures in parallel robots are quantified and analyzed. Results show that parallel continuum robots can be kinematic equivalent and exhibit similar kinematic performances in comparison to conventional parallel robots depending on the chosen design.

scholarly journals Oblique impact of a smooth body on a thin layer of inviscid liquid

2013 ◽  
Vol 469 (2151) ◽  
pp. 20120615 ◽  
Author(s):  
T. I. Khabakhpasheva ◽  
A. A. Korobkin
Keyword(s):  
Body Surface ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Hydrodynamic Pressure ◽  
Oblique Impact ◽  
The Body ◽  
Second Stage ◽  
Smooth Body ◽  
Vertical Displacements ◽  
The Impact

The two-dimensional motion of a rigid body with a smooth surface is studied during its oblique impact on a liquid layer. The problem is coupled: the three degrees of freedom of the moving body are determined together with the liquid flow and the hydrodynamic pressure along the wetted part of the body surface. The impact process is divided into two temporal stages. During the first stage, the wetted region expands at a high speed with jetting flows at both ends of the wetted region. In the second stage, the free surface of the liquid is allowed to separate from the body surface. The position of the separation point is determined with the help of the Brillouin–Villat condition. Calculations are performed for elliptic cylinders of different masses and with different orientations and speeds before the impact. The horizontal and vertical displacements of the body, as well as its angle of rotation and corresponding speeds are investigated. The model developed remains valid until the body either touches the bottom of the liquid or rebounds from the liquid.

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