Kinematics Analysis of a Snake Robot Module Using Screw Theory

2016 ◽  
Author(s):  
Qing Xiao ◽  
Zhengcai Cao ◽  
Jian S. Dai
Keyword(s):  
Screw Theory ◽  
Kinematic Model ◽  
Kinematics Analysis ◽  
Mobility Analysis ◽  
Snake Robot ◽  
Numerical Result ◽  
Time Motion ◽  
Parallel Module ◽  
Kinematic Performance ◽  
Accurate Scheme

A natural snake can navigate lots of diverse environments owing to their extreme agility and hyper-redundancy. However, earlier snake robot designs are inadequate to imitate the living snake locomotion comprehensively, since the deficiency of mobility in each single module. The application of parallel mechanism in snake robot can provide considerable dexterity and support-ability to overcome the aforementioned drawback. This paper presents a bionic parallel module for snake robot inspired by the anatomy of biological snake. To generate four distinct gaits of living snake, three motion screws of the mechanism are obtained via mobility analysis. Further, a kinematic model of this mechanism is investigated by reciprocal screw and Lie algebra aimed to evaluate the kinematic performance in an efficient and accurate scheme, which facilitates real-time motion control. Finally, a numerical result using this method is supplied, and its effectiveness is corroborated by kinematic simulation of ADAMS.

Design and kinematics of a novel double-ring truss deployable antenna mechanism

2021 ◽  
pp. 1-14
Author(s):  
Wen-ao Cao ◽  
Sheng Xi ◽  
Huafeng Ding ◽  
Ziming Chen
Keyword(s):  
Topological Structure ◽  
Screw Theory ◽  
Structural Characteristics ◽  
Kinematic Model ◽  
Structure Design ◽  
Structural Symmetry ◽  
Double Ring ◽  
Joint Axis ◽  
Structure Decomposition ◽  
Topological Scheme

Abstract This paper aims to present the topological structure design and kinematic analysis of a novel double-ring truss deployable satellite antenna mechanism. First, a new topological scheme and a new rectangular prism deployable linkage unit are proposed for constructing the kind of antenna mechanisms. Second, the degree-of-freedom (DOF) of the deployable unit and the antenna mechanism are analyzed based on structure decomposition and screw theory. Third, the kinematic model of the double-ring truss deployable antenna mechanism is established based on its structural characteristics. Finally, a typical numerical example is used to illustrate the effectiveness of the designed mechanism and the established kinematic model. The new double-ring truss deployable antenna mechanism consists of the units with the better structural symmetry, and has simpler joint axis layouts, comparing with the same type of most existing mechanisms.

Kinematic Analyses of 5-DOF 3-RCRR Parallel Mechanism

2005 ◽  
Author(s):  
Zhen Huang ◽  
Si J. Zhu
Keyword(s):  
Reference Point ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Mobility Analysis ◽  
End Effector ◽  
Numerical Example ◽  
Rotation Center ◽  
Kinematic Analyses ◽  
Base Platform ◽  
Virtual Pairs

This paper presents the kinematic analyses of a 5-DOF 3-RCRR parallel mechanism. The end-effector of this mechanism can rotate round rotation center and one reference point on it can translate in a plane parallels to the base platform. Since the traditional Kutzbach-Gru¨bler formula is not valid for this mechanism, the modified Kutzbach-Gru¨bler formula and screw theory are used in the mobility analysis. The Duffy’s spherical analytic theory is used in forward/reverse position analyses. In forward/reverse velocity/acceleration analyses, virtual mechanism principle is used to build a virtual parallel mechanism (3-PvRCRR), which is equivalent to the initial mechanism (3-RCRR) on kinematics if all rates of virtual pairs (Pv) are set to be zero. At the end, some kinematics curves are presented with a numerical example.

Control of a Snake Robot on a Cylindrical Surface Based on a Kinematic Model

2009 ◽  
Vol 42 (16) ◽  
pp. 699-704 ◽  
Author(s):  
Hiroaki Tsukano ◽  
Motoyasu Tanaka ◽  
Fumitoshi Matsuno
Keyword(s):  
Cylindrical Surface ◽  
Kinematic Model ◽  
Snake Robot

Design and Kinematic Analysis of a Novel Machine Tool With Four Rotational Axes and One Translational Axis

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Song Gao ◽  
Jihong Chen ◽  
Shusheng Liu ◽  
Xiukun Yuan ◽  
Pengcheng Hu ◽  
...  
Keyword(s):  
Machine Tool ◽  
Kinematic Analysis ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Kinematics Analysis ◽  
Rotary Axes ◽  
Machining Quality ◽  
New Type ◽  
Kinematic Performance ◽  
Five Axis

Abstract Due to their superior machining quality, efficiency, and availability, five-axis machine tools are important for the manufacturing of complicated parts of freeform surfaces. In this study, a new type of the five-axis machine tool was designed that is composed of four rotary axes as well as one translational axis. Given the structure of the proposed machine tool, an inverse kinematics analysis was conducted analytically, and a set of methods was then proposed to address the issues in the kinematic analysis, e.g., the singularity and multi-solution problems. Compared with traditional five-axis machine tools, which are typically composed of three linear axes and two rotary axes, the proposed machine tool exhibited better kinematic performance with machining parts with hub features, such as impellers, which was validated by simulations and real cuttings.

A Novel Two-Layer and Two-Loop Deployable Linkage With Accurate Vertical Straight-Line Motion

2020 ◽  
Vol 142 (10) ◽  
Author(s):  
Wen-ao Cao ◽  
De Zhang ◽  
Huafeng Ding
Keyword(s):  
Screw Theory ◽  
Kinematic Model ◽  
Degree Of Freedom ◽  
Kinematics Model ◽  
Vertical Straight Line ◽  
Straight Line ◽  
Structure Decomposition

Abstract This paper presents a novel two-layer and two-loop spatial deployable linkage which can only accurately output vertical straight-line motion. First, the degree-of-freedom (DOF) of the linkage is analyzed based on structure decomposition and screw theory, and the characteristic of the straight-line motion of the linkage is verified by checking the output twist of the end platform. Then, the kinematic model of the mechanism is established based on the conditions of the straight-line motion and the single DOF. Finally, several potentially typical applications of the linkage are exhibited. The straight-line linkage has relatively simple joint layouts and kinematics model and can be used as a deployable unit to construct some special deployable mechanisms.

Jacobian Derivation of 5-DOF 3R2T Parallel Mechanisms

2004 ◽  
Author(s):  
Qinchuan Li ◽  
Xudong Hu ◽  
Zhen Huang
Keyword(s):  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Kinematic Chain ◽  
Parallel Mechanisms ◽  
Mobility Analysis

This paper presents a method for the Jacobian derivation of 5-DOF 3R2T PMs (parallel mechanisms), where 3R denotes three rotational DOFs (degrees of freedom) and 2T denotes two translational DOFs. First the mobility analysis of such kind of parallel mechanisms is reviewed briefly. The Jacobian matrix of the single limb kinematic chain is obtained via screw theory, which is a 6 × 5 matrix. Then it is shown that the mobility analysis of such kind of PM is important when simplifying the 6 × 5 matrix into a 5 × 5 Jacobian matrix. After obtaining the 5 × 5 Jacobian matrix for each limb, a 5 × 5 Jacobian matrix for the whole mechanism can be established.

Kinematics Analysis of Generalized SRU Manipulator Based on Screw Theory

2018 ◽  
Author(s):  
Wenwei Li ◽  
Guangbing Zhou ◽  
Xuefeng Zhou ◽  
Zaili Chen ◽  
Liang Wu ◽  
...  
Keyword(s):  
Screw Theory ◽  
Kinematics Analysis
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