Modelling of Continuous Contact-Based Skating Technique

2018 ◽  
Author(s):  
Varan Gupta ◽  
Rohit Patel ◽  
Jitendra P. Khatait ◽  
I. N. Kar
Keyword(s):  
Degrees Of Freedom ◽  
Ground Plane ◽  
Humanoid Robots ◽  
Equivalent Model ◽  
Continuous Contact ◽  
Additional Equipment ◽  
Input Signals ◽  
Speed Up ◽  
The Relationship ◽  
Three Degrees Of Freedom

Quick locomotion has always been a challenge for humanoid robots. Most of the work has been done to improve the efficiency of the walking gaits. Recently, additional equipment like skates are increasingly being used to speed up location, but they also make the system highly unstable. This paper describes the development of a statically stable skating gait to facilitate movement across plain surfaces, such as roads and hard ice. The new gait utilises the non-holonomic nature of a wheel (or blade of an ice skate). The proposed motion of the skates on the ground plane enables it to propel the robot forward without lifting its leg. Kinematic and dynamic equations of an equivalent model are formulated. Further, the paper discusses the relationship between different input signals and their corresponding output gaits. Multibody dynamics software is then used to simulate and verify the results for various scenarios. The design of an equivalent model with three degrees of freedom is then analysed and discussed for practical testing. Finally, the algorithm was tested on a fabricated robot.

Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Samer Alfayad ◽  
Ahmad M. Tayba ◽  
Fethi B. Ouezdou ◽  
Faycal Namoun
Keyword(s):  
Degrees Of Freedom ◽  
Research Work ◽  
Humanoid Robots ◽  
Kinematic Synthesis ◽  
Hybrid Mechanism ◽  
Generic Hybrid ◽  
Hybrid Mechanisms ◽  
Large Motion ◽  
Linear Actuators ◽  
Three Degrees Of Freedom

This paper deals with a research work that aims to develop a new three degrees-of-freedom (DoF) hybrid mechanism for humanoid robotics application. The proposed hybrid mechanism can be used as a solution not only for several modules in humanoid robots but also for other legged robots such as quadrupeds and hexapods. Hip and shoulder mechanisms are taken as examples in this paper; torso and spine mechanisms, too, can be based on the proposed solutions. In this paper, a detailed analysis of the required performances of the hip and shoulder mechanisms is first carried out. Then, using a kinematic synthesis, a novel solution for the hip mechanism is proposed based on one rotary and two linear actuators. Improving this solution allows us to fulfill the requirements induced by the large motion ranges of the shoulder module, leading to a new management of the linear actuators contributions in the motion/force achievement process. Kinematic and geometrical models of a generic hybrid mechanism are achieved and used to get the optimized solutions of both hybrid mechanisms addressed in this paper.

scholarly journals Technology-Oriented Optimization of the Secondary Design Parameters of Robots for High-Speed Machining Applications

2010 ◽  
Author(s):  
Se´bastien Briot ◽  
Anatol Pashkevich ◽  
Damien Chablat
Keyword(s):  
Machine Tools ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Parallel Robots ◽  
Design Parameters ◽  
Speed Up ◽  
Parallel Kinematic ◽  
Parallel Kinematic Machine Tools ◽  
Accuracy Constraints ◽  
Three Degrees Of Freedom

In this paper, a new methodology for the optimal design of the secondary geometric parameters (shape of links, size of the platform, etc.) of parallel kinematic machine tools is proposed. This approach aims at minimizing the total mass of the robot under position accuracy constraints. This methodology is applied to two translational parallel robots with three degrees-of-freedom (DOF): the Y-STAR and the UraneSX. The proposed approach is able to speed up the design process and to help the designer to find more quickly a set of design parameters.

Output force capacity polytope approach for actuator forces selection of three degrees of freedom excavating manipulator

2013 ◽  
Vol 228 (11) ◽  
pp. 2007-2017 ◽  
Author(s):  
Baochen Wei ◽  
Feng Gao
Keyword(s):  
Degrees Of Freedom ◽  
Gravity Effect ◽  
End Effector ◽  
Output Capacity ◽  
Output Force ◽  
Single Force ◽  
The Relationship ◽  
Three Degrees Of Freedom ◽  
Selection Of

Output force or velocity polytopes are usually used as an index of the manipulability of robot. This paper discusses the relationship between the actuator force and the variation of the output force capacity polytope and proposes the output force capacity polytope method for the selection of actuator forces of a three degrees of freedom excavating manipulator with the requirement that the output force on the end effector is a set of all possible forces rather than a single force. In this paper, the method to calculate capacity polytope is introduced with the consideration of gravity effect. With the concept that the required output force space should be within the output capacity polytope, the output force capacity polytope approach for selecting actuator forces is proposed.

Study on the Three Degrees of Freedom Model of Leaf Spring

2013 ◽  
Vol 397-400 ◽  
pp. 637-642
Author(s):  
Ben Ming Duan ◽  
Hong Xin Zhang ◽  
Jin Zhu Shi ◽  
Ming Yang Wang
Keyword(s):  
Structure Analysis ◽  
Degrees Of Freedom ◽  
Equivalent Model ◽  
Leaf Spring ◽  
Value Range ◽  
Stress And Deformation ◽  
Three Degrees Of Freedom

In the analysis of car frame that considers the leaf spring, the three degrees of freedom model of leaf spring was proposed. It would be compared with the commonly used equivalent model at present. There is a clear difference between the impacts of the two models on the structure analysis of the frame. The stress and deformation of the frame with the three degrees of freedom model is greater than the commonly used equivalent model, and there is only a smaller value range of lightweight optimization. Through the comparison between the two models, it can be seen that the three degrees of freedom model can transfer force and moment of force in all degrees of freedom, which illustrates the stronger reliability of the three degrees of freedom model of the leaf spring.

scholarly journals Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope

2018 ◽  
Vol 51 (13) ◽  
pp. 372-377 ◽  
Author(s):  
Juan E. Andrade García ◽  
Alejandra Ferreira de Loza ◽  
Luis T. Aguilar ◽  
Ramón I. Verdés
Keyword(s):  
Disturbance Rejection ◽  
Degrees Of Freedom ◽  
Active Disturbance Rejection ◽  
Three Degrees Of Freedom

scholarly journals A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1468
Author(s):  
Luis Nagua ◽  
Carlos Relaño ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Element Analysis ◽  
New Approach ◽  
Flexible Polymer ◽  
The Mathematical Model

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

scholarly journals Cyclic Deformation of Microcantilevers Using In-Situ Micromanipulation

2021 ◽  
Author(s):  
A. H. S. Iyer ◽  
M. H. Colliander
Keyword(s):  
Degrees Of Freedom ◽  
Focused Ion Beam ◽  
Ion Beam ◽  
Structural Components ◽  
Cyclic Testing ◽  
Phase Boundaries ◽  
Bulk Specimen ◽  
Arbitrary Position ◽  
Three Degrees Of Freedom

Abstract Background The trend in miniaturisation of structural components and continuous development of more advanced crystal plasticity models point towards the need for understanding cyclic properties of engineering materials at the microscale. Though the technology of focused ion beam milling enables the preparation of micron-sized samples for mechanical testing using nanoindenters, much of the focus has been on monotonic testing since the limited 1D motion of nanoindenters imposes restrictions on both sample preparation and cyclic testing. Objective/Methods In this work, we present an approach for cyclic microcantilever bending using a micromanipulator setup having three degrees of freedom, thereby offering more flexibility. Results The method has been demonstrated and validated by cyclic bending of Alloy 718plus microcantilevers prepared on a bulk specimen. The experiments reveal that this method is reliable and produces results that are comparable to a nanoindenter setup. Conclusions Due to the flexibility of the method, it offers straightforward testing of cantilevers manufactured at arbitrary position on bulk samples with fully reversed plastic deformation. Specific microstructural features, e.g., selected orientations, grain boundaries, phase boundaries etc., can therefore be easily targeted.

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