A high-dexterity low-degree-of-freedom hybrid manipulator structure for robotic lion dance

2010 ◽  
Vol 11 (4) ◽  
pp. 240-249
Author(s):  
Liang Yan ◽  
I-Ming Chen ◽  
Song-huat Yeo ◽  
Yan Chen ◽  
Gui-lin Yang
Keyword(s):  
Degree Of Freedom ◽  
Low Degree ◽  
Hybrid Manipulator

A Study on the Influence of Planar Mechanism Design on Energy Use During Controlled Movements

2018 ◽  
Author(s):  
David H. Myszka ◽  
Austin M. Fischer ◽  
Andrew P. Murray
Keyword(s):  
Degrees Of Freedom ◽  
Energy Use ◽  
Energy Savings ◽  
Degree Of Freedom ◽  
Energy Utilization ◽  
Energy Usage ◽  
Multiple Degrees Of Freedom ◽  
Low Degree ◽  
Robotic Devices ◽  
Actuator Control

This paper presents a study on the energy utilization of planar automation mechanisms that operate with controlled moves. Designers of factory automation for pick & place tasks often select multiple degree-of-freedom robotic devices. With multiple degrees-of-freedom, task flexibility is available, but many operations require little or no flexibility. The majority of research on the energy usage of these robot devices for pick & place tasks focuses on path planning. The study presented in this paper explores the energy savings in using low degree-of-freedom devices and the influence of design parameter selection. Energy predictor equations are developed and confirmed through experimentation. Various positioning mechanisms of differing dimensions are studied for trends in energy utilization. Lastly, an actuator control strategy is proposed for further reducing energy requirements. The study concludes that energy usage can be substantially decreased in pick & place applications by reducing the degrees of freedom of the device, implementing a prudent mechanism architecture, ideally selecting mechanism dimensions and optimally controlling the actuator(s).

On the Geometry of Low Degree-of-Freedom Digital Clay Human-Computer Interface Devices

2003 ◽  
Author(s):  
David Rosen ◽  
Austina Nguyen ◽  
Hongqing Wang
Keyword(s):  
Geometric Modeling ◽  
Limited Range ◽  
Degree Of Freedom ◽  
Surface Shape ◽  
Computer Interface ◽  
Control Surface ◽  
Human Computer Interface ◽  
Clay Surface ◽  
Low Degree ◽  
Interface Devices

Digital clay represents a new type of 3-D human-computer interface device that enables tactile and haptic interactions. The digital clay surface is computer controlled and can be commanded to acquire a wide variety of desired shapes, or be deformed by the user in a manner similar to that of real clay. In this paper, we present the ideas underlying digital clay and an example design of a digital clay device meant for generalpurpose modeling. We also introduce the concept of low degree-of-freedom digital clay devices, in which the clay surface can acquire a limited range of shapes, for example, to describe the shapes of automotive front-ends. Each degree of freedom moves a region of the clay surface through a range of predefined shapes. We investigate geometric modeling techniques for defining the ranges of shapes and relate the shapes to forward and inverse kinematics of the deformable structures that control surface shape. To illustrate the application of the digital clay concept, an example low degreeof-freedom clay device for modeling automotive front ends is presented and discussed.

Stiffness modeling, analysis and evaluation of a 5 degree of freedom hybrid manipulator for friction stir welding

2016 ◽  
Vol 231 (23) ◽  
pp. 4441-4456 ◽  
Author(s):  
Tao Sun ◽  
Hao Wu ◽  
Binbin Lian ◽  
Yang Qi ◽  
Panfeng Wang ◽  
...  
Keyword(s):  
Friction Stir Welding ◽  
Performance Index ◽  
Superposition Principle ◽  
Degree Of Freedom ◽  
The Novel ◽  
Worst Case ◽  
Friction Stir ◽  
Stiffness Model ◽  
Hybrid Manipulator ◽  
Compliance Modeling

In order to meet the requirements of large downward force and high stiffness performance for the friction stir welding process, this paper proposes a 5 degree-of-freedom hybrid manipulator as friction stir welding robot. It is composed of a 3 degree-of-freedom redundant parallel module and a 2 degree-of-freedom rotating head. Semi-analytical stiffness model of the hybrid manipulator is firstly established by compliance models of the two substructures. Virtual work principle, deformation superposition principle and twist/wrench mapping model are applied to this compliance modeling process. A novel instantaneous stiffness performance index is then proposed on the basis of instantaneous energy defined by reciprocal product of external payload screw and corresponding deformation screw. It solves the problems of inconsistent physical unit of linear/angular stiffness and is able to evaluate overall and worst-case stiffness performance. Next, stiffness/compliance experiments are carried out to verify the stiffness model and the novel instantaneous stiffness performance index. Finally, stiffness performance of 5 degree-of-freedom hybrid manipulator is thoroughly discussed in terms of engineering requirements, worst-case stiffness performance and stiffness singularities. It can be summarized that the semi-analytical stiffness model and the novel instantaneous stiffness index are effective in analyzing and evaluating stiffness performance of the 5 degree-of-freedom hybrid manipulator.

Kinematics and Discretization of Curved-Fold Mechanisms

2017 ◽  
Author(s):  
Robert J. Lang ◽  
Todd Nelson ◽  
Spencer Magleby ◽  
Larry Howell
Keyword(s):  
Degree Of Freedom ◽  
Curved Surfaces ◽  
Important Class ◽  
Geometric Properties ◽  
Low Degree ◽  
Discretization Algorithm

We present several new properties of curved-fold mechanisms, those with smoothly curved surfaces joined by sharp curved folds. After describing curved folds and various relationships among their geometric properties, we show that there is an important class, uniform folds, that is particularly well suited to low-degree-of-freedom mechanisms. There is a natural discretization algorithm for uniform curved folds; we present this algorithm and show discretized example mechanisms.

Topological Research on Hybrid Mechanism

2012 ◽  
Vol 271-272 ◽  
pp. 1761-1764
Author(s):  
Jian Guo Luo ◽  
Mao Yan He
Keyword(s):  
Parallel Manipulator ◽  
Synthesis Method ◽  
Singularity Analysis ◽  
Degree Of Freedom ◽  
Spatial Mobility ◽  
Hybrid Mechanism ◽  
Hybrid Manipulator

Methods to analysis the DOF(degree of freedom) and singularity of pure serial and pure parallel manipulator, which can not be used to the hybrid manipulator directly, three type of practical topological units and one type of virtual topological unit adopted, Synthesis method of topological dimensionality of the spatial mobility of each topological unit integrated together, architectures of serial-paralle mechanism discussed, also the formula and process of its topological dimensionality of spatial mobility presented, singularity analysis of hybrid mechanism can be carried out based on the forgoing results.

A New Algorithm for the Determination of the Workspace of Complex Planar Kinematic Chains

1995 ◽  
Author(s):  
Pascal Lê-Huu ◽  
Clément M. Gosselin
Keyword(s):  
Numerical Solution ◽  
Inverse Kinematics ◽  
Degree Of Freedom ◽  
Topological Graph ◽  
Kinematic Chains ◽  
Cartesian Space ◽  
Hybrid Manipulator ◽  
Three Degree Of Freedom ◽  
Two Degree Of Freedom

Abstract A new algorithm for the determination of the workspace of complex planar kinematic chains is presented in this paper. This algorithm is completely general since it can deal with any kind of topological graph and any set of parameters defined in a convention of notation. It uses the numerical solution of the inverse kinematics and is based on a wavefront expansion in the Cartesian space. Three examples are presented here, and lead to a dexterity mapping for two two-degree-of-freedom multi-loop manipulators and a three-degree-of-freedom hybrid manipulator.

Sign in / Sign up

Export Citation Format

Share Document