Leg kinematic analysis and prototype experiments of walking-operating multifunctional hexapod robot

2013 ◽  
Vol 228 (12) ◽  
pp. 2217-2232 ◽  
Author(s):  
Pan Yang ◽  
Feng Gao
Keyword(s):  
Kinematic Analysis ◽  
Kinematic Model ◽  
Form Solution ◽  
Spherical Joint ◽  
Universal Joint ◽  
Step Size ◽  
Work Space ◽  
Prismatic Joint ◽  
Forward Kinematic ◽  
Close Form

This paper presents kinematic analysis of a 3-degree of freedom parallel mechanism for hexapod walking-operating multifuctional robot. Each leg of the robot consists of three limbs: universal joint – prismatic joint chain (1-UP) and universal joint – prismatic joint – spherical joint chain (2-UPS) and at the end of the leg there is passive spherical joint to adjust to the uneven ground. In this paper, first the forward kinematic model is built and it shows that the model has close-form solution. Then the work space is discussed in which the robot feet trajectories can be projected. It can be shown that the current trajectories of the feet only take very small work space. After that force analysis is performed and the results show that the payload capability of the mechanism is very high. Experiments of the prototype show that the robot can walk easily with more than 150 kg loads while the step size is more than 0.5 m.

Solving kinematics and stiffness of a novel n(2-UPS/PS+RPS) spatial hyper-redundant manipulator

Robotica ◽  
2015 ◽  
Vol 34 (10) ◽  
pp. 2386-2399 ◽  
Author(s):  
Bo Hu ◽  
Yin Wang ◽  
Jingjing Yu ◽  
Yi Lu
Keyword(s):  
Parallel Manipulators ◽  
Forward Kinematics ◽  
Spherical Joint ◽  
Redundant Manipulator ◽  
Universal Joint ◽  
Revolute Joint ◽  
Kinematics Model ◽  
Prismatic Joint ◽  
In Series ◽  
Close Form

SUMMARYA novel n(2-UPS/PS+RPS) spatial hyper-redundant manipulator (SHRM) formed by an optional number of 2-UPS/PS+RPS(2-universal joint-prismatic joint-spherical joint/prismatic joint-spherical joint+revolute joint-prismatic joint-spherical joint) parallel manipulators(PMs) connected in series is proposed and analyzed in this paper. First, the forward kinematics of the 2-UPS/PS+RPS PM is derived in close form. By extending this result to the whole SHRM, the forward kinematics model of the n(2-UPS/PS+RPS) SHRM is established. Second, the compact and elegant expressions for solving the forward velocity of the n(2-UPS/PS+RPS) SHRM are derived. Third, the statics and stiffness of the n(2-UPS/PS+RPS) SHRM are analyzed systematically by considering both active forces and constrained forces existed in each 2-UPS/PS+RPS PM. Finally, an analytically solved example is given for a 4(2-UPS/PS+RPS) SHRM formed by four 2-UPS/PS+RPS PMs. The analytical results are verified by CAD software.

Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use

Robotica ◽  
2019 ◽  
Vol 38 (8) ◽  
pp. 1463-1477 ◽  
Author(s):  
Houssem Saafi ◽  
Houssein Lamine
Keyword(s):  
Design Optimization ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Kinematic Model ◽  
Parallel Manipulators ◽  
Geometric Parameters ◽  
Analysis And Design ◽  
Planar Parallel Manipulator ◽  
Forward Kinematic ◽  
Planar Parallel Manipulators

SUMMARYThis paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm × 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.

Forward Kinematic Analysis of IPMC Actuated Three Link Mechanism for Fin Actuation of Fish Like Micro Device

2015 ◽  
Vol 23 ◽  
pp. 67-75 ◽  
Author(s):  
Mazhar Ul Haq ◽  
Zhao Gang ◽  
Shaban Usman ◽  
Anees Ur Rehman ◽  
S.M. Aftab
Keyword(s):  
Kinematic Analysis ◽  
Autonomous Underwater Vehicles ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Artificial Muscle ◽  
Software Tool ◽  
Three Dimensional Model ◽  
Link Mechanism ◽  
Manufacturing Techniques ◽  
Forward Kinematic

IPMC is becoming an increasingly popular material among scholars, engineers and scientists due to its inherent properties of low activation voltage, large bending strain, flexibility, softness, suitable response time which make them a strong candidate to be applied as artificial muscle in biomimetic land and underwater applications. The applications of IPMC have been growing due to progression in its manufacturing techniques, development of more accurate response models and control techniques, and recently more sophisticated IPMC actuator applications have been performed. In this paper, a new application of IPMC is proposed to actuate aileron fins of a micro scanning device towed underwater by a surface vessel to control its depth and to stabilize it against roll motion that can mimic pectoral fins of fish that steer them up and down by changing their angle of rotation and their dorsal fins that keep them upright against roll. Same is applicable for autonomous underwater vehicles. Secondly, a three link mechanism is presented to actuate aileron fin through IPMC actuator. Three dimensional model of the mechanism is developed in Pro-Engineer CAD software tool and its kinematic analysis is performed. Thirdly, forward kinematic model of proposed mechanism, based on geometric coordinate, is presented. Lastly, results of kinematic analysis of proposed mechanism are compared to that of model to verify its design and kinematics. Encouraging results decoy the research team to manufacture the mechanism and to perform experiments for its practical application.

Kinematic Analysis and Simulation of a Novel Continuum Robot for Search and Rescue

2013 ◽  
Vol 644 ◽  
pp. 265-270
Author(s):  
Guang Zhu Meng ◽  
Ling Yu Sun ◽  
Ming Lu Zhang ◽  
Xian Chun Meng ◽  
Hong Mei Wang
Keyword(s):  
Kinematic Analysis ◽  
Kinematic Model ◽  
Search And Rescue ◽  
Matlab Software ◽  
Kinematic Simulation ◽  
Continuum Robot ◽  
Forward Kinematic

In this paper, a novel continuum robot for search and rescue is presented. A detailed formulation of fundamentally new kinematic model is then introduced. Kinematic analysis adopt product of exponentials formula, compare with conventional D-H method, this method is concise and simplicity. Finally, the forward kinematic simulation is completed by Matlab software.

scholarly journals Kinematic Analysis and Simulation of an Orange Harvesting Robot

2020 ◽  
Author(s):  
Sadaf Zeeshan ◽  
Tauseef Aized
Keyword(s):  
Path Planning ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Probabilistic Approach ◽  
Kinematic Model ◽  
Algebraic Method ◽  
Agricultural Robots ◽  
Uneven Terrain ◽  
Forward Kinematic ◽  
Harvesting Robot

Abstract One of the most challenging areas in robot design is its kinematic analysis for proper and efficient path planning. In agricultural robots, this study is even more crucial due to the uneven terrain and unstructured environment. In agricultural robots, work has been done on fruit harvesting robots yet its commercial recognition is still underway. Further research needs to be done in this field to make the fruit harvesting robots more commercially acceptable. In this paper, a 6 degree of freedom (DOF) orange harvesting robot is designed and its kinematic analysis is done. Forward kinematic is done using Denavit-Hartenberg (DH) parameters while the inverse kinematics is done using algebraic method. The calculated formulas are verified by simulation on RoboAnalyzer software. The algorithm for inverse kinematics using probabilistic approach did not generate any error and worked successfully generating 16 results within the workspace. The simulated dynamic results also supported the kinematic model. The kinematic study validates the model design and calculations, whereas, its simulation verifies the path planning and reachability of oranges on the trees within the confined workspace.

scholarly journals Dynamic modeling of spatial parallel mechanism with multi-spherical joint clearances

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987591 ◽  
Author(s):  
Xiulong Chen ◽  
Chenghao Sun
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Parallel Mechanism ◽  
High Speed ◽  
Force Model ◽  
Spherical Joint ◽  
Universal Joint ◽  
Prismatic Joint ◽  
Spatial Parallel Mechanism ◽  
Joint Clearances

The parallel mechanism has advantages of the high speed, high precision, strong carrying capacity, and high structural rigidity. Most of the previous studies concerning the dynamic modeling focused on planar mechanisms with revolute clearance joints or spatial mechanisms with one spherical joint clearance, while few studies focused on spatial parallel mechanisms with multi-spherical joint clearances. In this article, a general dynamic modeling method for spatial parallel mechanism with multi-spherical joint clearances based on Lagrange multiplier method is proposed. Taking 4universal joint-prismatic joint-spherical joint/universal joint-prismatic joint- universal joint (4UPS-UPU) spatial parallel mechanism as an example, the constraint equations of common kinematic pairs in spatial parallel mechanism, such as universal joint, spherical joint, and prismatic joint, are derived in detail. The dynamic model of the parallel mechanism with two spherical joint clearances combining the Flores contact force model and the LuGre friction model is established. The correctness of model has also been verified by comparing the analysis results of MATLAB with those of ADAMS. It can be seen that dynamic model of spatial parallel mechanism with multi-spherical joint clearances could be easily established by this method, which provides a theoretical reference to establish the dynamic model of other parallel mechanism with multi-clearance in the future.

Development and Kinematic Position Analysis of a Novel Class 2 Tensegrity Robot

2018 ◽  
Author(s):  
Carlos G. Manríquez-Padilla ◽  
Karla A. Camarillo-Gómez ◽  
Gerardo I. Pérez-Soto ◽  
Juvenal Rodríguez-Reséndiz ◽  
Carl D. Crane
Keyword(s):  
Closed Form ◽  
Kinematic Analysis ◽  
Closed Form Solution ◽  
Form Solution ◽  
The Novel ◽  
Universal Joint ◽  
Position Analysis ◽  
Experimental Prototype ◽  
Inverse Position Analysis ◽  
Kinematic Position

This paper presents a novel class 2 tensegrity robot which has contact between its rigid elements with a universal joint. Also, an strategy to obtain the forward and inverse position kinematic analysis using the parameters Denavit–Hartenberg in the distal convention is presented, obtaining the closed–form solution for the inverse position analysis and it was validated through simulation where a point of the robot followed the desired trajectory. Finally, the results were implemented in the experimental prototype of the novel class 2 tensegrity robot.

Kinematic Analysis of a Novel 3-DOF Parallel Mechanism with Actuation Redundancy

2013 ◽  
Vol 816-817 ◽  
pp. 821-824
Author(s):  
Xue Mei Niu ◽  
Guo Qin Gao ◽  
Zhi Da Bao
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Rbf Neural Network ◽  
Analysis Method ◽  
Parallel Kinematic Mechanism ◽  
Redundantly Actuated ◽  
Parallel Kinematic ◽  
Forward Kinematic ◽  
Kinematic Mechanism ◽  
Kinematic Solution

Kinematic analysis plays an important role in the research of parallel kinematic mechanism. This paper addresses a novel forward kinematic solution based on RBF neural network for a novel 2PRRR-PPRR redundantly actuated parallel mechanism. Simulation results illustrate the validity and feasibility of the kinematic analysis method.

Forward kinematic analysis of the 3- R P RS parallel manipulator

2017 ◽  
Vol 116 ◽  
pp. 262-272 ◽  
Author(s):  
Anirban Nag ◽  
Santhakumar Mohan ◽  
Sandipan Bandyopadhyay
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Forward Kinematic
Sign in / Sign up

Export Citation Format

Share Document