Study on Modeling and Kinematics Analysis of an Assistant Robot

2013 ◽  
Vol 299 ◽  
pp. 48-51
Author(s):  
Ramadhani O. Kivugo ◽  
Zhong Min Wang
Keyword(s):  
Physical Characteristics ◽  
Geometric Parameters ◽  
Simulation Studies ◽  
Analysis Method ◽  
Kinematics Analysis ◽  
Robot System ◽  
Simulation Experiments ◽  
Kinematics Model

Firstly, model of an assistant robot is built by UG software based on analysis to human exoskeleton system. Secondly, for establishing its kinematics model of this assistant robot, physical characteristics, practical geometric parameters and restriction relations are considered, and then this model is exported to ADAMS environment. Thirdly, simulation studies to the assistant robot system are carried out by ADAMS, and its kinematics performances are analyzed. Simulation experiments verify the validity and feasibility of the modeling and kinematics analysis method.

Research on Motion Analysis and Embedded Control System of Search-Rescue Robot

2011 ◽  
Vol 63-64 ◽  
pp. 827-830
Author(s):  
Peng Wang ◽  
Jing Lei Xin ◽  
Shao Chen Kang ◽  
Wen Hao Jiang ◽  
Xin Li
Keyword(s):  
Embedded System ◽  
Hexapod Robot ◽  
Analysis Method ◽  
Kinematics Analysis ◽  
Robot System ◽  
Embedded Control ◽  
Rescue Robot ◽  
Embedded Control System ◽  
Motion Quality

In order to improve the motion quality of the search-rescue robot, the new hexapod robot system is proposed in this paper. Based on the completed system hardware design and implementing scheme, embedded system software initialization design is realized. Through the improved kinematics analysis method, a simulation model of hexapod search-rescue robot is established in ADAMS. The experiment result shows that the whole robot is flexible and powerful.

Mechanism Design and Kinematics Simulation of Massage Mechanical Arm

2011 ◽  
Vol 101-102 ◽  
pp. 279-282 ◽  
Author(s):  
Jun Xie ◽  
Jun Zhang ◽  
Jie Li
Keyword(s):  
Mechanism Design ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Model ◽  
Kinematics Simulation ◽  
The Common ◽  
Executive Mechanism

Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.

The use of complex microbial soil communities in Mars simulation experiments

2008 ◽  
Vol 7 (2) ◽  
pp. 169-176
Author(s):  
Kai Finster ◽  
Aviaja A. Hansen ◽  
Lars Liengaard ◽  
Karina Mikkelsen ◽  
Tommy Kristoffersen ◽  
...  
Keyword(s):  
Bacillus Subtilis ◽  
Simulation Studies ◽  
Interesting Consequence ◽  
Deep Biosphere ◽  
Simulation Experiments ◽  
The Past ◽  
Number Of Microorganisms ◽  
Comprehensive Picture ◽  
Pure Cultures ◽  
Survival Potential

AbstractMars simulation studies have in the past mainly investigated the effect of the simulation conditions such as UV radiation, low pressure and temperature on pure cultures and much has been learnt about the survival potential of sporeformers such asBacillus subtilis. However, this approach has limitations as the studies only investigate the properties of a very limited number of microorganisms. In this paper we propose that Mars simulations should be carried out with complex microbial communities of Martian analogues such as permafrost or the deep biosphere. We also propose that samples from these environments should be studied by a number of complementary methods and claim that these methods in combination can provide a comprehensive picture of how imposed Martian conditions affect the microbial community and in particular the survival of its constituents – microbes as well as biological material in general. As an interesting consequence this approach can lead to the isolation of bacteria, which are more recalcitrant to the imposed Martian conditions than the pure cultures that have previously been studied.

Interpretation of ERTS Imagery in Biophysical Surveys

1974 ◽  
Vol 28 (2) ◽  
pp. 171-176
Author(s):  
P. Gimbarzevsky
Keyword(s):  
Land Surface ◽  
Physical Characteristics ◽  
Small Scale ◽  
Basic Information ◽  
Analysis Method ◽  
Land Area ◽  
Drainage Pattern ◽  
Air Photo ◽  
Geomorphic Processes

Four bands of ERTS imagery were analyzed under a stereoscope by pairing paper prints of bands 4, 5, 6 and 7 in an attempt to apply a conventional air-photo analysis method for extraction of basic information on physical characteristics of the land and its biotic components. The overview of an extensive land area at the 1:1,000,000 scale provides an adequate base for a general stratification of the land surface into broad physiographic landscapes (mountains, foothills, uplands, plains and lowland) and for recognition of major geomorphic processes from the analysis of drainage pattern, vegetation and erosional features. Some limitations of the ERTS imagery for a detailed mapping of landforms are illustrated by a comparison of conventional small-scale photographs and a section of ERTS imagery enlarged to the same scale.

The Design and Kinematics Analysis of Four-Bar Linkage of Micro-Swing Engine

2014 ◽  
Vol 875-877 ◽  
pp. 1199-1204
Author(s):  
Ye Tian
Keyword(s):  
Theoretical Basis ◽  
Kinematics Analysis ◽  
Kinematics Model ◽  
Movement Characteristics ◽  
Swing Movement ◽  
The Dead ◽  
Swing Engine ◽  
Four Bar Linkage

Based on the movement characteristics,the four-bar mechanism of Micro-swing Engine was designed.The mechanism transform swing movement into rotary motion.With the kinematics model,the moving law of four-bar mechanism was analyzied.And simulate the machinery with computer to abtain the movement of curve of four-bar mechanism.The results show that the four-bar mechanism of Micro-swing Engine running smoothly and the inertia can be overcome the dead point.This will provides the theoretical basis for four-bar mechanism of Micro-swing Engine.

scholarly journals Simulation Study of Distal Balloon Protection Systems during Carotid Artery Stenting

2004 ◽  
Vol 10 (2_suppl) ◽  
pp. 79-84
Author(s):  
T. Kuroiwa ◽  
N. Sakai ◽  
M. Sakaguchi ◽  
H. Adachi ◽  
H. Imamura ◽  
...  
Keyword(s):  
Carotid Artery ◽  
Internal Carotid ◽  
Circulatory System ◽  
Optimal Placement ◽  
Simulation Studies ◽  
Distal Embolization ◽  
Simulation Experiments ◽  
Protection Systems ◽  
Particulate Debris ◽  
Balloon Protection

The purpose of our experimental study was to assess the pitfalls of distal balloon protection systems and to learn any technique tips to increase safety. Silicone carotid artery models were connected to a circulatory system to simulate arterial flow. A distal balloon protection device, PercuSurge GuardWire Plus (GWP, Medtronic Vascular) was delivered to the internal carotid artery (ICA), then was inflated to occlude ICA flow temporarily. A debris aspiration catheter (Export catheter) was delivered just proximal to the GuardWire Plus balloon coaxially, in order to introduce and diffuse particulate debris (200–500 micro meter in diameter) in the ICA stump. Then, after debris in the stump was aspirated, the GWP balloon was deflated. We recorded all the processes of our simulation experiments on a digital video and observed the movements of debris during these experiments. Exp 1) We simulated the movements of debris in the ICA stump when the GWP balloon was gradually deflated to produce a crevice between the balloon and vessel wall, simulating accidental movement of the GWP balloon during the procedure. Exp 2) In order to assess the optimal placement of the tip of aspiration catheter, the debris in the ICA stump was aspirated from three different sites (from just below the GuardWire balloon, from 2 cm below it, and from 5 cm below it). Exp 1) When the crevice appeared between GuardWire balloon and silicone tube, simulated debris began to concentrate just below the balloon. Then, some debris migrated distally from the crevice, and another part crowded in the crevice so that was impossible to aspirate and migrated in the end. Exp. 2) Debris aspiration was most effective from immediately below the GuardWire balloon, and the aspiration ability declined as the distance between the balloon and aspiration catheter became longer. According to our simulation studies, when the GWP balloon was moved accidentally during CAS procedures, or when the aspiration catheter was not delivered all the way to the GuardWire Plus balloon, distal embolization might still occur, even under protection.

Inverse Kinematics Solution and Optimization of 6DOF Handling Robot

2014 ◽  
Vol 635-637 ◽  
pp. 1355-1359 ◽  
Author(s):  
Yan Wu ◽  
Li Hui Cheng ◽  
Guo Feng Fan ◽  
Cai Dong Wang
Keyword(s):  
Inverse Kinematics ◽  
Solution Method ◽  
Algebraic Method ◽  
Inverse Solution ◽  
Optimal Solutions ◽  
Robot System ◽  
Kinematics Model ◽  
Feasible Solutions

The kinematics equation of the handling robot with six free degrees has multiple sets inverse solution, and the robot system only can choose one optimized solutions to drive the robot to work. The kinematics model of the robot is established by D-H method, and the inverse solution is derived by an algebraic method. The best flexibility principle was introduced to determine a set of optimal solutions from 8 sets of feasible solutions. The correctness of robot inverse solution method is verified through a set of calculation examples.

Numerical Simulation of Flow Fluid in Elbow Pipe Based on FLUENT and the Establishment of the Pressure Model

2015 ◽  
Vol 713-715 ◽  
pp. 39-42 ◽  
Author(s):  
Xiao Yang Lu ◽  
Xin Guang Li ◽  
Jin Ming Liu ◽  
Xiao Li Lu ◽  
Hong Liang Zhu ◽  
...  
Keyword(s):  
Pressure Distribution ◽  
Theoretical Basis ◽  
Pipe Wall ◽  
Geometric Parameters ◽  
Analysis Method ◽  
Dimensionless Analysis ◽  
Flow Parameters ◽  
Parameter Variations ◽  
Fluent Simulation ◽  
Simulation Results

According to the FLUENT simulation results of the 90°elbow pipe fluid flow condition, the influence of the pressure distribution about the variation of the flow parameters (v、P0 、ρ) and the geometric parameters (R、d、k=R/d、α、β) is analyzed. By using the dimensionless analysis method, on the basis of the influence of the 32 set of parameter variations on the elbow pipe wall pressure distribution regularity, the pressure qualitative function is established including the geometric parameters and the flow parameters. Through the 155 kinds of the FLUENT simulation results, the fitting software 1stOpt is used to verify the internal pressure model above and fit the undetermined coefficients. The verification shows that the model is of a higher calculation precision and the relative error isn’t exceeding 0.003%. It provides a theoretical basis to check the strength of the bend and design the pipeline with high pressure and speed.

Dynamic Model of SCARA Robot

2013 ◽  
Vol 442 ◽  
pp. 476-479
Author(s):  
Jian Fang
Keyword(s):  
Dynamic Model ◽  
Kinematic Analysis ◽  
Reference Value ◽  
Kinematics Analysis ◽  
Robot System ◽  
Application Study ◽  
Scara Robot ◽  
Model Based ◽  
Actual Application

Design a robot system, it is the key technique to make kinematic analysis and build dynamic model based on the robot. This paper mainly provided introduction of the products dynamic model of four degree of freedoms SCARA robot which based on Kinematics analysis .The paper has certain reference value for actual application study the system with the same type.

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