Modelling and Kinematic Analysis of a Built Up Linear Delta Robot

2012 ◽  
Vol 186 ◽  
pp. 234-238
Author(s):  
Erol Uyar ◽  
Lutfi Mutlu
Keyword(s):  
Simulation Model ◽  
Kinematic Analysis ◽  
Position Control ◽  
Mechanical Design ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Inverse Kinematic ◽  
Kinematic Parameters ◽  
Dc Motors ◽  
Three Dimensional Space

In this paper kinematic analysis of a 3-PUU translational parallel manipulator (TPM) is made by creating the forward and inverse Kinematic solutions. For a given position, control of the end effecter is then realized by using the calculated inverse kinematic parameters as reference values. For kinematic analysis relevant equations are derived from geometrical vector relations. For the forward and inverse kinematic solutions of the non-linear model a MATLAB based iterative algorithm is developed and the inverse kinematic solutions of limbs, are then used to control the end effecter position through screw rails which are driven by DC motors. After the general mechanical design of the manipulator all parts are drawn and modelled in SolidWorks, and a simulation of the motion in three dimensional space is made. To support the reliability of calculated parameters through inverse kinematic solutions, results are compared with the values of SolidWorks based simulation model of the manipulator. Furthermore a real position control with use of feed back encoders is applied and the evaluated results are compared with the results of a simulation model. Very similar and satisfactory results are obtained with both simulation and real application.

scholarly journals Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu
Keyword(s):  
Animal Behavior ◽  
Position Control ◽  
Control Method ◽  
Impedance Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Control Methods ◽  
Prior Work ◽  
Control Approach ◽  
Three Dimensional Space

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

Control System Design and Trajectory Planning for SCARA Robots

2014 ◽  
Vol 602-605 ◽  
pp. 1001-1005 ◽  
Author(s):  
Ning Ning Gao ◽  
Dong Qing Wang ◽  
Ming Wei Ding ◽  
Peng Xiu Yao ◽  
Lu Yi Fan
Keyword(s):  
Control System ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Inverse Kinematic ◽  
Control System Design ◽  
Interpolation Algorithm ◽  
Robot Arm ◽  
Circular Interpolation ◽  
Differential Analyzer ◽  
Three Dimensional Space

Based on STM32F407ZET6 microprocessor with ARM Cortex-M4 core, we designed a controller for servo motors and servo drivers of a 4-axis Selective Compliance Assembly Robot Arm (SCARA) robot. The forward and inverse kinematic equations are established, circular interpolation equations in three-dimensional space are derived by using the digital differential analyzer method. The adopted circular interpolation algorithm avoids to judge quadrant and feeding direction, which simplifies the program.

Kinematic Analysis of a Three-Degree of Freedom Compliant Platform

2013 ◽  
Vol 135 (5) ◽  
Author(s):  
Julio C. Correa ◽  
Carl Crane
Keyword(s):  
Kinematic Analysis ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Degree Of Freedom ◽  
Compliant Joints ◽  
Central Platform ◽  
Moving Platform ◽  
Three Degree Of Freedom ◽  
Three Dimensional Space

This paper addresses the kinematic analysis of a three-degree of freedom (DOF) compliant platform able to move in three dimensional space. The device is formed by the actuators, a central moving platform, and compliant joints. The actuators are three binary links. The moving platform is an equilateral plate. Springs connect the free end of each actuator with each vertex of the central platform. In this way, the motion of the actuators is transmitted to the moving platform. Compliant joints increase the complexity of the motion of the central platform and few studies have been carried out. This paper focuses on the forward and reverse analyses for the platform and the derivation of equations that relate the velocity of the moving platform with the velocity of the actuators.

Kinematic Analysis of a Compliant Microplatform

2008 ◽  
Author(s):  
Julio Correa ◽  
Carl Crane ◽  
Huikai Xie
Keyword(s):  
Kinematic Analysis ◽  
Microelectromechanical Systems ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Planar Mechanisms ◽  
Central Platform ◽  
Bimorph Actuators ◽  
Three Dimensional Space

Mechanisms formed by rigid elements are not suitable for applications at the microlevel due to manufacturing limitations. For the same reason, devices for microelectromechanical systems (MEMS) are basically planar mechanisms. This paper addresses a microplatform able to move in the three dimensional space. It is formed by bimorph actuators connected to the central platform by compliant elements. The forward and reverse analyses for the microplatform are presented.

Extension of the Spatial PDI Model to Three Dimensions

1997 ◽  
Vol 84 (1) ◽  
pp. 176-178
Author(s):  
Frank O'Brien
Keyword(s):  
Population Density ◽  
Dimensional Space ◽  
Finite Lattice ◽  
Three Dimensional ◽  
Upper Bounds ◽  
Three Dimensions ◽  
Lower And Upper Bounds ◽  
Density Index ◽  
Three Dimensional Space

The author's population density index ( PDI) model is extended to three-dimensional distributions. A derived formula is presented that allows for the calculation of the lower and upper bounds of density in three-dimensional space for any finite lattice.

A Peptoid with Extended Shape in Water

2019 ◽  
Author(s):  
Jumpei Morimoto ◽  
Yasuhiro Fukuda ◽  
Takumu Watanabe ◽  
Daisuke Kuroda ◽  
Kouhei Tsumoto ◽  
...  
Keyword(s):  
Spectroscopic Analysis ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Biomolecular Recognition ◽  
Biological Application ◽  
New Class ◽  
Proteolytic Resistance ◽  
Pharmacokinetic Properties ◽  
Optically Pure ◽  
Three Dimensional Space

<div> <div> <div> <p>“Peptoids” was proposed, over decades ago, as a term describing analogs of peptides that exhibit better physicochemical and pharmacokinetic properties than peptides. Oligo-(N-substituted glycines) (oligo-NSG) was previously proposed as a peptoid due to its high proteolytic resistance and membrane permeability. However, oligo-NSG is conformationally flexible and is difficult to achieve a defined shape in water. This conformational flexibility is severely limiting biological application of oligo-NSG. Here, we propose oligo-(N-substituted alanines) (oligo-NSA) as a new peptoid that forms a defined shape in water. A synthetic method established in this study enabled the first isolation and conformational study of optically pure oligo-NSA. Computational simulations, crystallographic studies and spectroscopic analysis demonstrated the well-defined extended shape of oligo-NSA realized by backbone steric effects. The new class of peptoid achieves the constrained conformation without any assistance of N-substituents and serves as an ideal scaffold for displaying functional groups in well-defined three-dimensional space, which leads to effective biomolecular recognition. </p> </div> </div> </div>

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