Four-Wheeled Hopping Robot with Attitude Control

2004 ◽  
Vol 16 (3) ◽  
pp. 319-326
Author(s):  
Shingo Shimoda ◽  
◽  
Takashi Kubota ◽  
Ichiro Nakatani ◽  
Keyword(s):  
Simulation Study ◽  
Attitude Control ◽  
Minimum Energy ◽  
Free Fall ◽  
Control Mechanisms ◽  
Hopping Robot

Because a hopping robot moves long distances at minimum energy and can observe its surrounding from high points when it jumps, it is expected to explore microgravity environments effectively. Despite the importance of attitude control in such exploratory robots, few attitude control mechanisms have been proposed. This paper proposes a four-wheeled hopping robot that hops horizontally and lands without bouncing. Its wheels are applied to attitude control in the air. A simulation study and free-fall experiments verified the feasibility of the proposed mobility and the applicability of the robot.

A SIMULATION STUDY OF ENERGY UTILISATION IN A VARIABLE LINK LENGTH 3 DOF REVOLUTE ARTICULATED MANIPULATOR

2015 ◽  
Vol 76 (4) ◽  
Author(s):  
Wan Sulaiman Wan Mohamad ◽  
Zulkifli Mohamed ◽  
Zainoor Hailmee Solihin ◽  
Kamrol Amri Mohamed
Keyword(s):  
Simulation Study ◽  
Energy Method ◽  
Mechanical Energy ◽  
Minimum Energy ◽  
Average Energy ◽  
Energy Utilization ◽  
Link Length ◽  
Manipulator Link ◽  
Point To Point

Determination of manipulator link lengths is one of the important criteria in robotic design. The purpose of this study is to find the minimum energy utilization for a 3 DOF revolute articulated manipulator to perform certain point-to-point task by varying the link lengths of the manipulator. The lengths of the second and third link of the developed manipulator can be varied accordingly. The investigation of energy for different link length combinations is carried out theoretically. In the simulation, the work-energy method is constituted in order to determine the average mechanical energy of the manipulator. The simulation shows that, different trajectory of motions results in different link length combinations that could give optimum average energy utilization. Results of the simulations shows that, improvement of mechanical energy utilization could be achieved by having variable link length of manipulator rather than having fixed length of manipulator’s arms. 

scholarly journals Analisa Kekuatan Impak Helmet Sepeda Motor Metode Impak Jatuh Bebas

2017 ◽  
Vol 2 (1) ◽  
pp. 42
Author(s):  
Rahmat Kartolo Simanjuntak
Keyword(s):  
Impact Loading ◽  
Minimum Energy ◽  
Free Fall ◽  
Load Cell ◽  
Impact Testing ◽  
Time Signal ◽  
Research Activity ◽  
Testing Apparatus ◽  
Impact Time ◽  
The Impact

The non-standard helmet testing is required for measure the helmet strength as effect of the load is given. In generally, traffic accident doesn�t involved by the velocity but also gravitational. Therefore, the research activity is done by researcher obtains the effect of free-fall impact loading on the non-standard helmet. The information which is obtained from this research will explain the effect of free-fall impact loading that is subjected on the non-standard helmet to user, industry, and also government. The objective of this research involves the testing apparatus construction of free-fall impact loading on the non-standard helmet, measuring the maximum impact loading, and the energy absorbing by helmet as effect of impact loading. The researcher collaborates with the Impact and Fracture Reaseach Center (IRFC) has bulit the testing apparatus which is equipped with good aquisition data system. The non-standar helmet is put on the adjustable testing rig. The impact time can be measured by eight inductive proximity sensors. The helmet will slide down and collides the anvil. The force will be measured with the load cell which is put down the anvil. There are four anvil forms which is adapted to the real condition, that is: flat plat, aligned plat, bullet, and a half-spherical anvil. The data will be transfered from the load cell into the DAQ system which has function to change the analog into digital signal. Finally, the data will be saved into PC as the force (N) and the impact time (ms). The free-fall impact testing equipment has shown the best performance on the force and impact time signal reading as long as the research activity. The maximum force on the flat anvil is 24.33 N; the aligned flat anvil is 37.88 N; the bullet anvil is 16.22 N; and a half-spherical anvil is 41.43 N at the elevation of 0.75 m. The minimum energy which causes the fracture on the helmet is 3.24 J at the elevation of 0.3 m.

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