scholarly journals Synthesis and static analysis of the deployable frame for a morphing wing

2012 ◽  
Vol 227 (3) ◽  
pp. 565-579 ◽  
Author(s):  
Jing-Shan Zhao ◽  
Li Ye ◽  
Fulei Chu ◽  
Jian S Dai
Keyword(s):  
Numerical Analysis ◽  
Static Analysis ◽  
Structural Stiffness ◽  
Morphing Wing ◽  
Folding Process ◽  
Prismatic Joint ◽  
Structure And Motion ◽  
Revolute Joints ◽  
Primary Element ◽  
Prismatic Joints

This article proposes a deployable frame for a morphing wing. The frame is redundantly constrained in structure, and therefore it has both merits of high structural stiffness and strength of a truss structure and motion flexibility of a mechanism. The primary element of the foldable frame is synthesized from the viewpoint of identical strength principle. The major structures of previous deployable wings are mostly based on prismatic joints. However, the deflections of the cantilevered links might not satisfy the primary geometry requirements of the prismatic joint. Therefore revolute joints are used in our deployable frame to avoid violating the geometry conditions for prismatic joints resulting from the different deflections of its contacting two parts. The deflection and slope of every joint node of the foldable frame is investigated within the deploying/folding process. Numerical analysis indicates that the deployment ratio of the foldable frame can be designed much larger than that of the existing morphing wing even considering the allowable deflection under the completely unfolded situations.

On the Mobility of Single Loop N-Bar Linkage With One Prismatic Joint

2005 ◽  
Author(s):  
W. Z. Guo ◽  
R. Du ◽  
J. X. Wang
Keyword(s):  
Change Point ◽  
Open Loop ◽  
Class Iii ◽  
Revolute Joint ◽  
Single Loop ◽  
Prismatic Joint ◽  
Revolute Joints ◽  
Offset Distance ◽  
Special Cases ◽  
Prismatic Joints

Single loop N-bar linkages that contain one prismatic joint are common in engineering. This paper presents a systematical study on the mobility of this type of mechanism. It is found that this type of mechanisms can be divided into three categories: Class I, Class II and Class III. For each category, the slide reachable range is cut into different regions: Grashofian region, non-Grashofian region and change-point region. At each region, the rotation range of the revolute joint or rotatability of the linkage is able to determine based on Ting’s criteria. The characteristics charts are given to describe the rotatability condition. For active prismatic joint, the input revolute joint(s) is/are dependent in non-Grashofian region but independent in other regions. For passive prismatic joint, the revolvability of input revolute joints is dependent on the offset distance of the prismatic joint. Two special cases are illustrated with four and five bars. Examples are given to demonstrate the presented method able to cover all the cases of N-bar linkages with one or a set of adjoined prismatic joints and N-bar open-loop robotic mechanisms.

Mobility of Single-Loop N-Bar Linkage With Active/Passive Prismatic Joints

2005 ◽  
Vol 128 (6) ◽  
pp. 1261-1271 ◽  
Author(s):  
W. Z. Guo ◽  
R. Du
Keyword(s):  
Open Loop ◽  
Class Iii ◽  
Active Joint ◽  
Revolute Joint ◽  
Single Loop ◽  
Prismatic Joint ◽  
Passive Joint ◽  
Offset Distance ◽  
Prismatic Joints ◽  
Planar Linkages

Single-loop N-bar linkages that contain one prismatic joint are common in engineering. This type of mechanism often requires complicated control and, hence, understanding its mobility is very important. This paper presents a systematic study on the mobility of this type of mechanism by introducing the concept of virtual link. It is found that this type of mechanism can be divided into three categories: Class I, Class II, and Class III. For each category, the slide reachable range is cut into different regions: Grashof region, non-Grashof region, and change-point region. In each region, the rotation range of the revolute joint or rotatability of the linkage can be determined based on Ting’s criteria. The characteristics charts are given to describe the rotatability condition. Furthermore, if the prismatic joint is an active joint, the revolvability of the input revolute joint is dependent in non-Grashof region but independent in other regions. If the prismatic joint is a passive joint, the revolvability of the input revolute joint is dependent on the offset distance of the prismatic joint. Two examples are given to demonstrate the presented method. The new method is able to cover all the cases of N-bar planar linkages with one or a set of adjoined prismatic joints. It can also be used to study N-bar open-loop planar robotic mechanisms.

A non-overconstrained variant of the Agile Eye with a special decoupled kinematics

Robotica ◽  
2013 ◽  
Vol 32 (6) ◽  
pp. 889-905 ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai ◽  
Giovanni Legnani
Keyword(s):  
Angular Displacement ◽  
Universal Joint ◽  
Special Configuration ◽  
End Effector ◽  
Revolute Joint ◽  
Revolute Joints ◽  
Prismatic Joints ◽  
Decoupled Motion ◽  
Orientation Mechanism ◽  
Actuated Joints

SUMMARYA non-overconstrained three-DOF parallel orientation mechanism that is kinematically equivalent to the Agile Eye is presented in this paper. The output link (end-effector) of the mechanism is connected to the base by one spherical joint and by another three identical legs. Each leg comprises of, in turns from base, a revolute joint, a universal joint, and three prismatic joints. The three lower revolute joints are active joints, while all other joints are passive ones. Based on a special configuration, some three projective angles of the end-effector coordinates are fully decoupled with respect to the input actuated joints, that is, by actuating any revolute joint the end-effector rotates in such a way that the corresponding projective angle changes with the same angular displacement. The fully decoupled motion is analyzed geometrically and proved theoretically. Besides, the inverse and direct kinematics solutions of the mechanism are provided based on the geometric reasoning and theoretical proof.

Over-Constrained Mechanisms Derived From RPRP Loops

2018 ◽  
Author(s):  
Kwun-Lon Ting ◽  
Kuan-Lun Hsu
Keyword(s):  
Computer Aided Design ◽  
Random Search ◽  
Modular Approach ◽  
Input Output ◽  
Assembly Strategy ◽  
Revolute Joints ◽  
Computer Aided ◽  
Prismatic Joints ◽  
Aided Design ◽  
Four Bar Linkage

This paper addresses the assembly strategy capable of deriving a family of over-constrained mechanisms systematically. The modular approach is proposed. It treats the topological synthesis of over-constrained mechanisms as a systematical derivation rather than a random search. The result indicates that a family of over-constrained mechanisms can be constructed by combining legitimate modules. A spatial four-bar linkage containing two revolute joints (R) and two prismatic joints (P) is selected as the source-module for the purpose of demonstration. All mechanisms discovered in this paper were modeled and animated with computer aided design (CAD) software and their mobility were validated with input-output equations as well as computer simulations. The assembly strategy can serve as a self-contained library of over-constrained mechanisms.

scholarly journals Numerical Analysis of Lattice Structures for Skin Layer in Camber Morphing Wing

2019 ◽  
Vol 16 (6) ◽  
pp. 182-191
Author(s):  
Bashir Alsaidi ◽  
Woong Yeol Joe ◽  
Muhammad Akbar
Keyword(s):  
Numerical Analysis ◽  
Skin Layer ◽  
Lattice Structures ◽  
Morphing Wing

Overconstrained Mechanisms Derived From RPRP Loops

2018 ◽  
Vol 140 (6) ◽  
Author(s):  
Kuan-Lun Hsu ◽  
Kwun-Lon Ting
Keyword(s):  
Computer Aided Design ◽  
Random Search ◽  
Modular Approach ◽  
Input Output ◽  
Assembly Strategy ◽  
Revolute Joints ◽  
Prismatic Joints ◽  
Overconstrained Mechanisms ◽  
Aided Design ◽  
Four Bar Linkage

This paper addresses the assembly strategy capable of deriving a family of overconstrained mechanisms systematically. The modular approach is proposed. It treats the topological synthesis of overconstrained mechanisms as a systematical derivation rather than a random search. The result indicates that a family of overconstrained mechanisms can be constructed by combining legitimate modules. A spatial four-bar linkage containing two revolute joints (R) and two prismatic joints (P) is selected as the source-module for the purpose of demonstration. All mechanisms discovered in this paper were modeled and animated with computer-aided design (CAD) software and their mobility were validated with input–output equations as well as computer simulations. The assembly strategy can serve as a self-contained library of overconstrained mechanisms.

scholarly journals The legal and technical possibilities of using of scaffoldings as the ramp for disabled persons

2015 ◽  
Vol 14 (1) ◽  
pp. 005-014
Author(s):  
Ewa Błazik-Borowa ◽  
Michał Pieńko ◽  
Aleksander Robak
Keyword(s):  
Numerical Analysis ◽  
Numerical Model ◽  
Stress Analysis ◽  
Static Analysis ◽  
Disabled Persons ◽  
Technical Documentation ◽  
System Components ◽  
The Disabled ◽  
Computer Calculations ◽  
Dynamic Impacts

The paper is devoted to the problems of legal and technical making the ramp for disabled persons with scaffolds. Scaffolding system components allow you to assemble a structure that serve as the ramp and fulfil the requirements of technical conditions. From a legal point the most important is the fact that the ramp construction needs a building application. In this regard, the greatest problems is obtaining the rights to use the property for construction purposes. A big challenge is to also perform stress analysis, taking into account of dynamic impacts caused by the movement of the trolley. In this regard, the paper presents a numerical model of the ramp, static analysis, modal analysis and results of prediction of a disabled person ride on the trolley. The results of computer calculations have shown that the construction of the ramp requires the exact numerical analysis. Therefore, the best option would be in order to scaffolding companies will prepare relevant technical documentation of products which are ramps for the disabled.

Axis Motion Based System Calibration of an Automated Disassembly Work Cell

2000 ◽  
Author(s):  
Michael M. Bailey-Van Kuren
Keyword(s):  
Vision System ◽  
Kinematic Model ◽  
Image Data ◽  
Simple Relationship ◽  
Revolute Joints ◽  
Prismatic Joints ◽  
Homogeneous Transformation Matrix ◽  
Position And Orientation ◽  
A Chain ◽  
User Friendly

Abstract This paper presents an approach to calibrate a robotic cell consisting of a robot, a positioning table and a stereo vision system in an autonomous manner. The approach is designed to simplify the error relationships and parameter updates and thus eliminating the need for a large nonlinear search. The accumulation of error in the kinematic model is avoided by calibrating one joint at a time from the manipulator hand to the manipulator base. The error in the manipulator and sensor models are identified by using least squares estimates. The manipulator kinematic model is parameterized by the joint axes position and orientation instead of the Denavit-Hartenberg parameters. This approach leads to a more “user-friendly” interface to the calibration results. The model is derived using screw geometry, resulting in a simple relationship between the joint axis parameters and the path produced by moving a particular joint. The robot model provides an example of a chain of revolute joints while the positioning table provides an example of prismatic joints. Model simplifications result from each of these simplified motions. As with other methods, this formulation produces a four by four homogeneous transformation matrix which defines the motion of any point on the hand of the manipulator in terms of the sensed joint angles. It is shown that each camera can independently estimate the manipulators’ paths using the image data and distances along the path from the manipulator model. Error in position and orientation between the resulting two path estimates identify the relative error between the camera models. It is shown that a solution exists for any set of three or more points generated from one axis.

A New Family of 4-DOF Parallel Mechanisms (1T-3R and 2T-2R) With Two Platforms and Its Application to a Footpad Device

2004 ◽  
Author(s):  
Jungwon Yoon ◽  
Jeha Ryu
Keyword(s):  
Degrees Of Freedom ◽  
Base Plate ◽  
Driving Mechanism ◽  
Parallel Mechanisms ◽  
Pitch Motion ◽  
Human Foot ◽  
New Family ◽  
Revolute Joints ◽  
Prismatic Joints ◽  
Kinematic Analyses

This paper proposes a new family of four degrees-of-freedom (dof) parallel mechanisms with two platforms and its application to a footpad device that can simulate the spatial motions of the human foot. The new mechanism consists of front and rear platforms, and three limbs. Two limbs with 6-dof serial joints (P-S-P-P) are attached to each platform and are perpendicular to the base plate, while the middle limb (Pe-Re-R or Pe-Pe-R) is attached to the revolute joint that connects the front and rear platforms. The middle limb is driven by the 2-dof driving mechanism that is equivalent active serial prismatic and revolute joints (Pe-Re), or prismatic and prismatic joints (Pe-Re) with two base-fixed prismatic actuators. Therefore, two new 4-dof parallel mechanisms with two platforms can generate pitch motion of each platform, and roll and heave motions (1T-3R) or pitch motion of each platform and two translational motions (2T-2R) at both platforms. Kinematic analyses of the 1T-3R mechanism were performed, including inverse and forward kinematics, and velocity analysis. Based on the 1T-3R mechanism, a footpad device was designed to generate foot trajectories for natural walking. Finally, simulations of the foot trajectories in the normal gait cycle were performed using the proposed footpad device.

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