Study on the Trajectory Planning of Hybrid-Driven Planar 3-RRR Mechanism

2012 ◽  
Vol 190-191 ◽  
pp. 733-738
Author(s):  
Sheng Tao Song ◽  
Rui Qin Li ◽  
Ai Ling Wang ◽  
Yan Gao
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Spline Function ◽  
Power Source ◽  
Kinematics Analysis ◽  
Servo Motor ◽  
Mechanism Synthesis ◽  
Point To Point ◽  
Cubic Spline Function ◽  
Text Study

Hybrid-driven mechanism synthesis the constant speed motor and the servo motor as the power source through a multi degree of freedom mechanism. The text study on the trajectory planning of hybrid-driven planar 3-RRR mechanism. Firstly, based on compatible link combinations, all possible basic configurations of planar 3-dof kinematics chains were derived. Based on the requirements of hybrid-driven mode, the kinematics chains were selected one by one Planar 3-RRR mechanism was determined to be the research object finally. Then, based on the conclusions of inverse kinematics analysis, using the cubic spline function on point to point path planning, the servo motor rotation laws were presented. Comparing the different speed situation of constant motor, the influence trends on planning results were analyzed.

Analytical Trajectory Optimization of Seven Degrees of Freedom Redundant Robots

1987 ◽  
Vol 11 (4) ◽  
pp. 197-200 ◽  
Author(s):  
B. Benhabib ◽  
R.G. Fenton ◽  
A.A. Goldenberg
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Optimization Procedure ◽  
Redundant Robots ◽  
Point Motion ◽  
Point To Point ◽  
Lagrange’S Method

The basic characteristic of kinematically redundant robots is that non-unique joint solutions may exist for a specified end effector location. Thus, trajectory planning for a kinematically redundant robot requires an optimization procedure to determine the joint displacements when solving the inverse kinematics relations. In this paper an analytical solution is developed for the trajectory optimization problem of redundant robots based on the classical Lagrange’s method. A detailed formulation is provided for seven degrees of freedom robots, which minimizes the Euclidean norm of joint dislacements for point-to-point motion trajectory planning.

The Kinematics Analysis and Study on Triangular Elbow Servo Press

2011 ◽  
Vol 121-126 ◽  
pp. 1636-1640
Author(s):  
Ying Qiu ◽  
Wei Min Li ◽  
Zhi Wei
Keyword(s):  
Optimization Design ◽  
Research Field ◽  
Transmission Mechanism ◽  
Kinematics Analysis ◽  
Servo Motor ◽  
Forming Process ◽  
Servo Press ◽  
Heavy Haul ◽  
Slider Motion

Servo presses are widely used in high-precision, complicated forming process fields and promoted around the world in recent years. It is the trend of forging machinery for its servo motor-based digital heavy haul driven technology. At present, it becomes the hot research field. The structure characteristics of triangular elbow servo press were firstly introduced in the paper. And then the kinematics mathematical model of triangular elbow transmission mechanism was deduced and given. Based on it, this paper provides the slider kinematics analysis by Matlab. The slider motion law under various parameters can be analyzed and compared. The results would be useful reference for optimization design of transmission mechanism. The case study provides more visual and reliable decision basis for designer.

scholarly journals Progress and Regress of Time Dependent Data and Application in Bank Branch

2014 ◽  
Vol 2014 ◽  
pp. 1-9
Author(s):  
F. Hosseinzadeh Lotfi ◽  
Z. Taeb ◽  
S. Abbasbandy
Keyword(s):  
Decision Making ◽  
Commercial Bank ◽  
Spline Function ◽  
Time Dependent ◽  
Malmquist Productivity Index ◽  
Productivity Index ◽  
Dependent Data ◽  
Bank Branch ◽  
Decision Making Unit ◽  
Cubic Spline Function

To evaluate each decision making unit having time dependent inputs and outputs data, a new method has been developed and reported here. This method uses the Malmquist productivity index, and is a very simple function based on Cubic Spline function to determine the progress and regress of that unit. To show the capability of this developed method, the data of 9 branches of a commercial bank has been used, evaluated, and reported.

Parametric Design of a Spherical Eight-Bar Linkage Based on a Spherical Parallel Manipulator

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Parametric Design ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Arbitrary Base ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a procedure that determines the dimensions of two constraining links to be added to a three degree-of-freedom spherical parallel manipulator so that it becomes a one degree-of-freedom spherical (8, 10) eight-bar linkage that guides its end-effector through five task poses. The dimensions of the spherical parallel manipulator are unconstrained, which provides the freedom to specify arbitrary base attachment points as well as the opportunity to shape the overall movement of the linkage. Inverse kinematics analysis of the spherical parallel manipulator provides a set of relative poses between all of the links, which are used to formulate the synthesis equations for spherical RR chains connecting any two of these links. The analysis of the resulting spherical eight-bar linkage verifies the movement of the system.

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