Sports Analysis and Program Design of Biped Robot Based on Arduino

2013 ◽  
Vol 433-435 ◽  
pp. 107-110
Author(s):  
Jie Liu ◽  
Tao Wu
Keyword(s):  
Motion Analysis ◽  
Program Design ◽  
Control Program ◽  
Biped Robot ◽  
Degree Of Freedom ◽  
Control Panel ◽  
Motion Controller ◽  
Analysis And Design ◽  
Sports Programs ◽  
Six Degree Of Freedom

Based on the profiling principle, assemble bracket and servos into a six-degree-of-freedom biped robot. The robot use Arduino control panel as the motion controller. By analyzing the walking process and developing the sports programs, the overall motion analysis and design corresponding control program is made. So that the robot can be completed by a given program specified straight action.

Application and Research on CNC Operation Panel Based on PMAC

2016 ◽  
Vol 693 ◽  
pp. 1573-1577
Author(s):  
Yan Lin
Keyword(s):  
Machine Tool ◽  
Control Program ◽  
Feed Ratio ◽  
Control Panel ◽  
Motion Controller ◽  
Machining Center ◽  
Design Program ◽  
The Matrix ◽  
The Cost ◽  
Operation Panel

Based on the matrix keyboard with PMAC motion controller built-in PLC design program, the program is used for control of machine tool control panel. In a quick feed ratio knob button as an example, the key code is given. Compiled by the control program is simple, has the versatility and portability, great savings with PMAC motion controller I/O points, reduce the cost, and application in VNCZT - 545 machining center.

An Approach to Identify Joint Motions for Dynamically Stable Walking

2005 ◽  
Vol 128 (3) ◽  
pp. 649-653 ◽  
Author(s):  
Abhishek Agrawal ◽  
Sunil K. Agrawal
Keyword(s):  
Dynamic Stability ◽  
Biped Robot ◽  
Degree Of Freedom ◽  
Stability Criteria ◽  
Biped Robots ◽  
Wheeled Robots ◽  
Novel Approach ◽  
Six Degree Of Freedom ◽  
Joint Motions

Biped robots are more versatile than conventional wheeled robots, but they tend to tip over easily. The dynamic stability of a biped robot needs to be maintained during walking. In this paper, a novel approach to compute dynamically stable walking motions of a planar six degree-of-freedom biped is presented. This approach is analytical and is based on the need for periodicity of the motion. The resulting gait satisfies the dynamic stability criteria. Sets of joint motions for different step sizes and speed of walking, i.e., quasi-statically and dynamically stable walking patterns, can be obtained.

Analysis and Design of a Three-Limb Six Degree-of-Freedom Parallel Micromanipulator With Flexure Hinges

2007 ◽  
Author(s):  
Lefeng Wang ◽  
Weibin Rong ◽  
Lining Sun ◽  
Jie Jiao
Keyword(s):  
Compliant Mechanisms ◽  
Base Plate ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Influence Coefficient ◽  
Analysis And Design ◽  
Flexure Hinges ◽  
Stiffness Model ◽  
Position Controller ◽  
Six Degree Of Freedom

A novel three-limb six degree-of-freedom (DOF) parallel micromanipulator with flexure hinges driven by piezoelectric actuators is presented. Its uniqueness lies in three inextensible limbs with specified flexure hinges and driving its input motions from a monolithic base plate that consists of three 2-DOF compliant mechanisms, unlike of the most six-limb parallel manipulators. The manipulator is very compact and its structure is simple. The kinematic problem of the manipulator is solved by using the kinematic influence coefficient theory. As a result, the velocities of the movable platform, the limbs and the flexure hinges are derived. The stiffness model of the micromanipulator is determined considering the elastic deformations of the flexure hinges according to the virtue work principle. The design targets and the primary design principles of the flexure hinges are discussed and the precision position controller modules are used to control the micromanipulator. At last the basic experiment results are presented.

Analysis and Design of a Spatial Five-Degree-of-Freedom Hybrid Manipulator for Underwater Applications

1998 ◽  
Author(s):  
Martin Gagné ◽  
Clément M. Gosselin
Keyword(s):  
Inverse Kinematics ◽  
Selection Criteria ◽  
Degree Of Freedom ◽  
Principal Selection ◽  
Main Concern ◽  
Hybrid Architecture ◽  
Analysis And Design ◽  
Optimum Parameters ◽  
Hybrid Manipulator ◽  
Six Degree Of Freedom

Abstract This paper presents the analysis and design of a spatial five-degree-of-freedom hybrid manipulator to be mounted on a submarine. The main concern of this new design is to provide a cheaper alternative to the six-degree-of-freedom serial manipulator currently used. The architecture is chosen from several hybrid architectures using simplicity and stiffness as the principal selection criteria. The direct and inverse kinematics are then developed based on a general form of the hybrid architecture, the velocity equations are obtained and the singularity loci are determined. Thereafter, the architecture parameters of the manipulator are optimized in order to provide optimum workspace. Finally, a specific architecture that uses the optimum parameters is provided and a workspace without singularities is presented.

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