Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot

2006 ◽  
Vol 7 (3) ◽  
pp. 368-373 ◽  
Author(s):  
Ping Xia ◽  
Xin-jian Zhu ◽  
Yan-qiong Fei
Keyword(s):  
Mechanical Design ◽  
Locomotion Control ◽  
Reconfigurable Robot

Chaotic CPG based locomotion control for modular self-reconfigurable robot

2016 ◽  
Vol 13 (1) ◽  
pp. 30-38 ◽  
Author(s):  
Jizhuang Fan ◽  
Yu Zhang ◽  
Hongzhe Jin ◽  
Xiaolu Wang ◽  
Dongyang Bie ◽  
...  
Keyword(s):  
Locomotion Control ◽  
Reconfigurable Robot

MECHANICAL DESIGN AND MOTION PLANNING OF A MODULAR RECONFIGURABLE ROBOT

2008 ◽  
Author(s):  
AMIR HOSSEIN HAJI AGHA MEMAR ◽  
PARVIN ZARE HAJI BAGHER ◽  
MEHDI KESHMIRI
Keyword(s):  
Motion Planning ◽  
Mechanical Design ◽  
Reconfigurable Robot

Approaches to Development of Mechanical Design and Jumping Motion for a Wheeled Jumping Robot

2020 ◽  
pp. 52-89
Author(s):  
Lyudmila Yurievna Vorochaeva ◽  
Sergey Igorevich Savin ◽  
Andrei Vasilievich Malchikov ◽  
Andres Santiago Martinez Leon
Keyword(s):  
Control System ◽  
Mechanical Design ◽  
Kinematic Structure ◽  
Locomotion Control ◽  
Design Decisions ◽  
Jumping Robot ◽  
Monitoring Platform ◽  
Motion Types

This chapter is dedicated to tackling the issues related to the design and locomotion control of a hybrid wheeled jumping monitoring platform. The studied robot consists of a body mounted on a wheeled platform and of a jump acceleration module. An approach to making design decisions regarding the structure of the investigated robot is proposed. To select the kinematic structure of the robot, classifications of possible variants of hybrid jumping platforms and accelerating modules are presented. Methods for controlling the function of the accelerating modules and the analysis of their work is carried out. Various implementations of jumping motion are discussed; these implementations are characterized by different combinations of relative links movements during various stages of motion. Each of the proposed jump motion types requires the development of a control system, which is also discussed in this chapter.

The new CM-Series TEMs: integration of a five-axis motorized, fully computer-controlled goniometer

1993 ◽  
Vol 51 ◽  
pp. 258-259
Author(s):  
Marc J.C. de Jong ◽  
P. Emile S.J. Asselbergs ◽  
Max T. Otten
Keyword(s):  
Mechanical Design ◽  
Computer Control ◽  
Objective Lens ◽  
Access Port ◽  
Vibration Stability ◽  
Transmission Electron ◽  
Computer Controlled ◽  
High Degree ◽  
Five Axis ◽  
Five Axes

A new step forward in Transmission Electron Microscopy has been made with the introduction of the CompuStage on the CM-series TEMs: CM120, CM200, CM200 FEG and CM300. This new goniometer has motorization on five axes (X, Y, Z, α, β), all under full computer control by a dedicated microprocessor that is in communication with the main CM processor. Positions on all five axes are read out directly - not via a system counting motor revolutions - thereby providing a high degree of accuracy. The CompuStage enters the octagonal block around the specimen through a single port, allowing the specimen stage to float freely in the vacuum between the objective-lens pole pieces, thereby improving vibration stability and freeing up one access port. Improvements in the mechanical design ensure higher stability with regard to vibration and drift. During stage movement the holder O-ring no longer slides, providing higher drift stability and positioning accuracy as well as better vacuum.

Design of a Human Knee Reeducation Mechanism

2019 ◽  
Vol 11 (1) ◽  
pp. 42-53
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia
Keyword(s):  
Lower Limb ◽  
Mechanical Design ◽  
Kinematic Chain ◽  
Lower Limbs ◽  
Kinematic Structure ◽  
Robotic Device ◽  
Human Knee ◽  
Kinematic Study ◽  
Rehabilitation Exercise ◽  
New Machine

Abstract To establish an exercise in open muscular chain rehabilitation (OMC), it is necessary to choose the type of kinematic chain of the mechanical / biomechanical system that constitutes the lower limbs in interaction with the robotic device. Indeed, it’s accepted in biomechanics that a rehabilitation exercise in OMC of the lower limb is performed with a fixed hip and a free foot. Based on these findings, a kinematic structure of a new machine, named Reeduc-Knee, is proposed, and a mechanical design is carried out. The contribution of this work is not limited to the mechanical design of the Reeduc-Knee system. Indeed, to define the minimum parameterizing defining the configuration of the device relative to an absolute reference, a geometric and kinematic study is presented.

Mechanical Design of a Low Cost Transhumeral Prosthesis

2017 ◽  
Author(s):  
Luis Arturo Gómez Malagón ◽  
João Luiz Vilar Dias
Keyword(s):  
Mechanical Design ◽  
Low Cost
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