Research on Gait Analysis and Planning of Quadruped Search-Rescue Robot

2011 ◽  
Vol 121-126 ◽  
pp. 1484-1488 ◽  
Author(s):  
Peng Wang ◽  
Xin Li ◽  
Wen Hao Jiang ◽  
Shao Chen Kang ◽  
Jing Lei Xin
Keyword(s):  
Simulation Model ◽  
Degrees Of Freedom ◽  
Quadruped Robot ◽  
Search And Rescue ◽  
Actual Structure ◽  
Walking Machine ◽  
Rescue Robot ◽  
Simulation Results ◽  
Motion Characteristics ◽  
Robot Body

The search and rescue robot has the characteristics of quadruped walking machine. According to the actual structure of the quadruped robot body，the walking pose of the robot are planned，based on the study of the animal gait．The distributions of degrees-of-freedom is analyzed to ensure stable walking. A simulation model of quadruped search and rescue robot is established in ADAMS, and the motion characteristics of the system are observed using the simulation model established. Simulation results show that the motion characteristics of the system are closed related to the length of stride.

Research on Walking Stability of Quadruped Search-Rescue Robot

2011 ◽  
Vol 63-64 ◽  
pp. 831-834 ◽  
Author(s):  
Peng Wang ◽  
Xin Li ◽  
Wen Hao Jiang ◽  
Shao Chen Kang ◽  
Jing Lei Xin
Keyword(s):  
Simulation Model ◽  
Search And Rescue ◽  
Stability Evaluation ◽  
Kinetics Equation ◽  
Walking Machine ◽  
Rescue Robot ◽  
Simulation Results

The search and rescue robot has the characteristics of quadruped walking machine. A simulation model of quadruped search-rescue robot is established in ADAMS, and the kinetics equation is analyzed using Lagrange theory. The walking characteristics and stability evaluation of the system are observed using the simulation model established. Simulation results show that the walking stability of the system is closed related to the length of stride.

Environmental Modeling and Walking Simulation of Quadruped Search-Rescue Robot Based on VRML

2014 ◽  
Vol 494-495 ◽  
pp. 1270-1273
Author(s):  
Peng Wang ◽  
Ji Xiang Li ◽  
Yuan Zhang ◽  
Wen Hao Jiang
Keyword(s):  
Simulation Model ◽  
Environmental Modeling ◽  
Modeling Language ◽  
Displacement Curve ◽  
Rescue Robot ◽  
Modeling Technology ◽  
Real Environment ◽  
Simulation Results

In order to create the virtual earthquake environment, VRML modeling language is used to build a real environment that is a 3D mountain scene after earthquake. A simulation model of quadruped search-rescue robot is established in VRML modeling technology. The walking stability of quadruped search-rescue robot is observed using the VRML model established with the change of gravity curve. Simulation results show that the gravity displacement curve of the robot is smooth.

Design and Simulation of a Single DOF Human-Like Leg Mechanism

2013 ◽  
Vol 332 ◽  
pp. 491-496 ◽  
Author(s):  
Ionut Daniel Geonea ◽  
Cătălin Alexandru ◽  
Alexandru Margine ◽  
Alin Ungureanu
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Virtual Simulation ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Simulation Results ◽  
Leg Motion ◽  
And Performance ◽  
Motion Characteristics ◽  
Easy Operation

In this paper is carried out the selection and simulation of a one degrees of freedom (DOF) leg mechanism. The leg mechanism consist of a nine bar linkage and is based on a Low-cost Easy-operation idea. Virtual simulation tests of the model shows the feasible of the proposed leg mechanism, for human leg motion assistance. Kinematics and dynamics analysis of the leg mechanism is carried out. Finally, dynamic simulation results reveal the motion characteristics and performance of the leg mechanism.

Research on Gait Transition for Quadruped Search Robot Based on Kinetics Analysis

2014 ◽  
Vol 898 ◽  
pp. 555-558
Author(s):  
Peng Wang ◽  
Yuan Zhang ◽  
Ji Xiang Li
Keyword(s):  
Reference Data ◽  
Step Length ◽  
Quadruped Robot ◽  
Kinetics Equation ◽  
Kinetic Characteristics ◽  
Kinetics Analysis ◽  
Gait Transition ◽  
Structure Scheme ◽  
Simulation Results ◽  
Motion Characteristics

According to the structure scheme of quadruped search robot, the simulation model of quadruped search robot was established in ADAMS. The kinetics equation was analyzed using Lagrange theory. The gait transition of the quadruped search robot was analyzed based on the study of kinetic characteristics. We compared and assessed the different step length and the different moving trajectory curves of the quadruped robot, which supply the valuable reference data to the design as well as the important criterions to the trajectory planning and the control of theory prototype. Simulation results show that the motion characteristics of the system are closed related to the length of step and the frequency of gait transition.

scholarly journals Macro Modeling of V-Shaped Electro-Thermal MEMS Actuator with Human Error Factor

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 622
Author(s):  
Dongpeng Zhang ◽  
Anjiang Cai ◽  
Yulong Zhao ◽  
Tengjiang Hu
Keyword(s):  
Neural Network ◽  
Simulation Model ◽  
Bp Neural Network ◽  
Human Error ◽  
Calculation Model ◽  
Fuzzy Mathematics ◽  
Ansys Simulation ◽  
Macro Modeling ◽  
Error Factor ◽  
Simulation Results

The V-shaped electro-thermal MEMS actuator model, with the human error factor taken into account, is presented in this paper through the cascading ANSYS simulation model and the Fuzzy mathematics calculation model. The Fuzzy mathematics calculation model introduces the human error factor into the MEMS actuator model by using the BP neural network, which effectively reduces the error between ANSYS simulation results and experimental results to less than 1%. Meanwhile, the V-shaped electro-thermal MEMS actuator model, with the human error factor included, will become more accurate as the database of the V-shaped electro-thermal actuator model grows.

Simulation on the Regulating Characteristics of the Pulse Modulation Hydraulic Hammer

2011 ◽  
Vol 422 ◽  
pp. 176-183
Author(s):  
Gang Wang ◽  
Yu Wan Cen
Keyword(s):  
Time Delay ◽  
Simulation Model ◽  
Impact Energy ◽  
High Speed ◽  
Impact Frequency ◽  
Pulse Modulation ◽  
Motion Equations ◽  
Hydraulic Hammer ◽  
Working Frequency ◽  
Simulation Results

To improve the regulating characteristics of impact energy, simplify structure of hydraulic hammer, a new pulse modulation hydraulic hammer is presented in the paper which can help regulate its impact frequency easily. The motion equations of the hydraulic hammer are established, its simulation model is obtained and the dynamic simulation is carried out on AMESim. The dynamics of high-speed ON/OFF valve is taken into account in the simulation model. The tendency of simulation results conforms to experimental results; it shows that the pulse modulation hydraulic hammer is feasible, and the hydraulic hammer model is reasonable. The time delay in high working frequency is also analyzed.

Heating Performance Research in the Running-In Process of Wet Friction Clutch

2014 ◽  
Vol 614 ◽  
pp. 12-15
Author(s):  
Yu Fei Liu ◽  
Xiu Chao Bai ◽  
Xin Li ◽  
Yong Liang Lei
Keyword(s):  
Simulation Model ◽  
Temperature Control ◽  
Temperature Rise ◽  
Analysis Model ◽  
Heating Performance ◽  
Wet Friction ◽  
Friction Clutch ◽  
Simulation Results ◽  
Model Of Friction ◽  
Performance Research

The heating in the running-in process of wet friction clutch is the key to research in this kind of products. In this paper, based on the shifting clutch composed of metal and paper-based friction liner, using MATLAB/SIMULINK software, the simulation model of friction clutch and the analysis model of conducting heat were established. Thus, the corresponding relationships were obtained, which were the total friction power and clutch temperature variation with the time during the running-in process. According to the simulation results, the main influencing factors on temperature control of wet friction clutch were analyzed during running-in process, and the results could provide reference for reasonable temperature rise control for the clutch.

The Study of p-n and Schottky Junction for Magnetodiode

2011 ◽  
Vol 378-379 ◽  
pp. 663-667 ◽  
Author(s):  
Toempong Phetchakul ◽  
Wittaya Luanatikomkul ◽  
Chana Leepattarapongpan ◽  
E. Chaowicharat ◽  
Putapon Pengpad ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Electrical Properties ◽  
Simulation Model ◽  
Hall Effect ◽  
Schottky Junction ◽  
Field Sensitivity ◽  
Field Response ◽  
Type Semiconductor ◽  
Simulation Results ◽  
P Type

This paper presents the simulation model of Dual Magnetodiode and Dual Schottky Magnetodiode using Sentaurus TCAD to simulate the virtual structure of magneto device and apply Hall Effect to measure magnetic field response of the device. Firstly, we use the program to simulate the magnetodiode with p-type semiconductor and aluminum anode and measure electrical properties and magnetic field sensitivity. Simulation results show that sensitivity of Dual Schottky magnetodiode is higher than that of Dual magnetodiode.

Modelling and simulation of artificial locomotion systems

Robotica ◽  
2005 ◽  
Vol 23 (5) ◽  
pp. 595-606 ◽  
Author(s):  
Manuel F. Silva ◽  
J. A. Tenreiro Machado ◽  
António M. Lopes
Keyword(s):  
Simulation Model ◽  
Fractional Order ◽  
Soil Mechanics ◽  
Viscous Friction ◽  
Legged Locomotion ◽  
Modelling And Simulation ◽  
Locomotion System ◽  
Linear Spring ◽  
Robot Leg ◽  
Robot Body

This paper describes a simulation model for a multi-legged locomotion system with joints at the legs having viscous friction, flexibility and backlash. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, the robot body is divided into several segments in order to emulate the behaviour of an animal spine. The foot-ground interaction is modelled through a non-linear spring-dashpot system whose parameters are extracted from the studies on soil mechanics. To conclude, the performance of the developed simulation model is evaluated through a set of experiments while the robot leg joints are controlled using fractional order algorithms.

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