A rolling mechanism with two modes of planar and spherical linkages

2015 ◽  
Vol 230 (12) ◽  
pp. 2110-2123 ◽  
Author(s):  
Jieyu Wang ◽  
Yanan Yao ◽  
Xianwen Kong
Keyword(s):  
Kinematic Analysis ◽  
Control Strategies ◽  
Point Theory ◽  
The Novel ◽  
Standing Posture ◽  
Zero Moment Point ◽  
Rolling Mechanism ◽  
Straight Line ◽  
Zero Moment ◽  
Spherical Linkages

A novel deformable rolling mechanism is proposed in this paper. The mechanism can switch between two modes: a planar linkage mode and a spherical linkage mode. In the planar linkage mode, the mechanism rolls like a planar four-bar mechanism and moves along a straight line. In the spherical linkage mode, the mechanism rolls as a spherical four-bar mechanism and moves along a polygon. A standing posture, which likes an upright pyramid, of the rolling mechanism is also identified. After the description of the novel mechanism, the kinematic analysis of the mechanism is presented, and appropriate control strategies are proposed. Then, the rolling conditions of the mechanism are investigated based on the zero-moment-point theory. Finally, the various modes of the mechanism are verified by both simulations and prototype experiments.

A Rolling 8-Bar Linkage Mechanism

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
Yaobin Tian ◽  
Yan-An Yao ◽  
Jieyu Wang
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Rolling Direction ◽  
Linkage Mechanism ◽  
Zero Moment Point ◽  
Revolute Joints ◽  
Straight Line ◽  
Polygonal Region ◽  
Zero Moment

In this paper, a rolling mechanism constructed by a spatial 8-bar linkage is proposed. The eight links are connected with eight revolute joints, forming a single closed-loop with two degrees of freedom (DOF). By kinematic analysis, the mechanism can be deformed into planar parallelogram or spherical 4-bar mechanism (SFM) configuration. Furthermore, this mechanism can be folded onto a plane at its singularity positions. The rolling capability is analyzed based on the zero-moment-point (ZMP) theory. In the first configuration, the mechanism can roll along a straight line. In the second configuration, it can roll along a polygonal region and change its rolling direction. By alternatively choosing one of the two configurations, the mechanism has the capability to roll along any direction on the ground. Finally, a prototype was manufactured and some experiments were carried out to verify the functions of the mechanism.

Multi-level control of zero-moment point-based humanoid biped robots: a review

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2440-2466 ◽  
Author(s):  
Hayder F. N. Al-Shuka ◽  
B. Corves ◽  
Wen-Hong Zhu ◽  
B. Vanderborght
Keyword(s):  
Control Strategies ◽  
Humanoid Robots ◽  
Human Locomotion ◽  
Level Control ◽  
Biped Robots ◽  
Zero Moment Point ◽  
Cluttered Environments ◽  
Multi Level ◽  
Zero Moment ◽  
Autonomous Humanoid

SUMMARYResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

Design and Analysis of a Novel Structure Form of Electro-Mechanical Transmission

2013 ◽  
Vol 694-697 ◽  
pp. 497-502
Author(s):  
Jiang Tao Gai ◽  
Shou Dao Huang ◽  
Guang Ming Zhou ◽  
Yi Yuan
Keyword(s):  
Mechanical Transmission ◽  
The Novel ◽  
Structure Form ◽  
Tracked Vehicle ◽  
Power Coupling ◽  
Advantages And Disadvantages ◽  
Vehicle Propulsion ◽  
Novel Structure ◽  
Straight Line ◽  
Planetary Mechanism

In order to search after a new way of the propulsion system of tracked vehicle, a novel structure form of electro-mechanical transmission was developed in this paper, through analyzing the advantages and disadvantages of existing projects of electric drive system for tracked vehicle. It could increase the rate of power exertion obviously and synthesize the mechanical and electrical strongpoint. And based on the structure form, an electro-mechanical transmission was designed with double electromotor added planetary mechanism of steering power coupling and gearshift, considering engineering realization. And then straight-line driving and steering performances of the transmission were calculated which proved that the novel electro-mechanical transmission could meet the requirement of tracked vehicle propulsion well.

scholarly journals Dynamic Analysis and Control of an Automatic Transmission for Start-Stop Function and Efficiency Improvement

2015 ◽  
Vol 2015 ◽  
pp. 1-13
Author(s):  
Yang Liu ◽  
Shuhan Wang ◽  
Peng Dong ◽  
Xiangyang Xu
Keyword(s):  
Control Strategies ◽  
Automatic Transmission ◽  
Simulation Method ◽  
Transmission Efficiency ◽  
The Novel ◽  
Test Results ◽  
Test Environment ◽  
Pump System ◽  
Oil Pump ◽  
And Control

An electric oil pump (EOP) was integrated into the hydraulic system and an automatic transmission (AT) mechanical oil pump (MOP) was downsized. These processes were performed to combine a start-stop function with the AT and further improve the transmission efficiency. Furthermore, this study established a dynamics model of power loss and leakage of an 8-speed AT; a flow-based control algorithm of the EOP was then developed to realize the start-stop function and support the MOP to meet the flow requirement of the system. Based on a driving simulation method, sizes of the MOP and EOP that ensured optimal fuel economy were selected. A control strategy for the starting clutch was also developed to minimize the starting delay of the test vehicle. A test environment on a rig and prototype vehicle was established to verify the feasibility of the proposed control strategies. The test results indicated that the transmission functioned favorably with the novel two-pump system presented, and a quick and smooth starting performance was achieved when the engine was restarted. The findings in this study are extremely valuable for forward designs of an AT for realizing start-stop function and improving efficiency.

scholarly journals Dispersal of Potato Cyst Nematodes Measured Using Historical and Spatial Statistical Analyses

2012 ◽  
Vol 102 (6) ◽  
pp. 620-626 ◽  
Author(s):  
N. C. Banks ◽  
M. Hodda ◽  
S. K. Singh ◽  
E. M. Matveeva
Keyword(s):  
Control Strategies ◽  
Potato Cyst Nematodes ◽  
Cyst Nematodes ◽  
Detection Distance ◽  
Rate Of Spread ◽  
Linear Distance ◽  
Straight Line ◽  
Constant Rate ◽  
Straight Line Distance ◽  
Road Distance

Rates and modes of dispersal of potato cyst nematodes (PCNs) were investigated. Analysis of records from eight countries suggested that PCNs spread a mean distance of 5.3 km/year radially from the site of first detection, and spread 212 km over ≈40 years before detection. Data from four countries with more detailed histories of invasion were analyzed further, using distance from first detection, distance from previous detection, distance from nearest detection, straight line distance, and road distance. Linear distance from first detection was significantly related to the time since the first detection. Estimated rate of spread was 5.7 km/year, and did not differ statistically between countries. Time between the first detection and estimated introduction date varied between 0 and 20 years, and differed among countries. Road distances from nearest and first detection were statistically significantly related to time, and gave slightly higher estimates for rate of spread of 6.0 and 7.9 km/year, respectively. These results indicate that the original site of introduction of PCNs may act as a source for subsequent spread and that this may occur at a relatively constant rate over time regardless of whether this distance is measured by road or by a straight line. The implications of this constant radial rate of dispersal for biosecurity and pest management are discussed, along with the effects of control strategies.

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