Dynamics of a Quadruped Walking Machine

The purpose of this study is to propose a new quadruped walking machine and investigate its dynamics. This paper first proposes a new quadruped walking machine and introduces its structure. The basic theory behind the equation of motion is briefly introduced. The dynamic characteristics of the walking machine, including the position, velocity, acceleration, support leg sequence, foot trajectory and pitch angle, are investigated and compared with the existing design. The results show that better transmission efficiency is achieved when the driving torque of the walking machine acts on the shaft of the crank. Compared to the existing design, the design proposed in this study has fewer changes in pitch angle during movement and exhibits less skidding while changing support leg.

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Crank Arrangement on the Dynamics of a Quadruped Walking Machine

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.764-765.213 ◽

2015 ◽

Vol 764-765 ◽

pp. 213-217

Author(s):

Fu Chen Chen ◽

Shang Chen Wu ◽

Yung Cheng Chen

Keyword(s):

Dynamic Response ◽

Dynamic Characteristics ◽

Pitch Angle ◽

Walking Machine ◽

Design And Optimization ◽

Future Design ◽

Walking Machines ◽

The One

The purpose of this study is to investigate the effect of crank arrangement on the dynamics of a quadruped walking machine. The dynamic characteristics of the walking machine, including the stance leg sequence, pitch angle and dynamic response of the quadruped walking machine are investigated and compared with the existing design. The results show that the phrase angle between front and rear legs on the same side should be 0o or 90o and the one between the legs on the different sides should be 180o. The results of this study can serve as a reference for future design and optimization of quadruped walking machines.

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Modal Perturbation Method for the Dynamic Characteristics of Timoshenko Beams

Shock and Vibration ◽

10.1155/2005/824616 ◽

2005 ◽

Vol 12 (6) ◽

pp. 425-434 ◽

Cited By ~ 6

Author(s):

Menglin Lou ◽

Qiuhua Duan ◽

Genda Chen

Keyword(s):

Perturbation Method ◽

Dynamic Characteristics ◽

Timoshenko Beam ◽

Natural Frequencies ◽

Solution Process ◽

Equation Of Motion ◽

Timoshenko Beams ◽

Algebraic Equations ◽

Nonlinear Algebraic Equations ◽

Shear Distortion

Timoshenko beams have been widely used in structural and mechanical systems. Under dynamic loading, the analytical solution of a Timoshenko beam is often difficult to obtain due to the complexity involved in the equation of motion. In this paper, a modal perturbation method is introduced to approximately determine the dynamic characteristics of a Timoshenko beam. In this approach, the differential equation of motion describing the dynamic behavior of the Timoshenko beam can be transformed into a set of nonlinear algebraic equations. Therefore, the solution process can be simplified significantly for the Timoshenko beam with arbitrary boundaries. Several examples are given to illustrate the application of the proposed method. Numerical results have shown that the modal perturbation method is effective in determining the modal characteristics of Timoshenko beams with high accuracy. The effects of shear distortion and moment of inertia on the natural frequencies of Timoshenko beams are discussed in detail.

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The Design and Simulation for Two-Link Manipulators PD Robust Controller under Uncertain Upper Bound Disturbance

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.694-697.1652 ◽

2013 ◽

Vol 694-697 ◽

pp. 1652-1655

Author(s):

Ji Yan Wang

Keyword(s):

Dynamic Characteristics ◽

Upper Bound ◽

Control Method ◽

Robot Manipulator ◽

Industrial Robot ◽

Pd Controller ◽

Robust Controller ◽

Convergence And Stability ◽

Comparison And Analysis ◽

Driving Torque

PD control method is widely utilized for the dynamic characteristics controlling in industrial robot manipulator area. The disturbance is usually uncertain in reality; the traditional PD controller is limited in that case. In this paper, a PD robust controller is introduced to optimize the convergence and stability of PD controller and avoid the extreme initial driving torque for two-link manipulator system. Using the co-simulation on Matlab/ Simulink and ADAMS, the paper designs a PD robust controller under uncertain upper bound disturbance and completes track control and driving torque simulation trial. The superiority of the two-link manipulators PD robust controller is verified through result comparison and analysis.

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The Effect of Driving Method and Crank Arrangements on the Performance of a Reconstructed Ancient Chinese Wooden Horse Carriage

Journal of Mechanical Design ◽

10.1115/1.4024233 ◽

2013 ◽

Vol 135 (6) ◽

Author(s):

Fu-Chen Chen ◽

Meng-Hui Hsu ◽

Hong-Sen Yan

Keyword(s):

Phase Angle ◽

Transmission Efficiency ◽

The Future ◽

The One ◽

The Ancient Chinese ◽

Driving Torque

The purpose of this study is to investigate the effect of driving method and crank arrangements on the performance of a reconstructed ancient Chinese wooden horse carriage. The results demonstrate better transmission efficiency when the driving torque of wooden horse carriage acts on the crank shaft. The analysis of crank arrangements shows that the phase angle between front and rear legs on the same side should be 0 deg or 90 deg and the one between the legs on the different sides should be 180 deg. These results are beneficial to the future reconstruction of the ancient Chinese wooden horse carriage.

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Multi-objective optimization of hydro-viscous flexible drive for dynamic characteristics using genetic algorithm

Industrial Lubrication and Tribology ◽

10.1108/ilt-12-2020-0472 ◽

2021 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

Jianzhong Cui ◽

Hu Li ◽

Dong Zhang ◽

Yawen Xu ◽

Fangwei Xie

Keyword(s):

Genetic Algorithm ◽

Dynamic Characteristics ◽

Transmission Efficiency ◽

Outer Radius ◽

Transmission Model ◽

Design Parameters ◽

Multi Objective Optimization ◽

Content Type ◽

Multi Objective ◽

Dynamic Transmission Model

Purpose The purpose of this study is to investigate the flexible dynamic characteristics about hydro-viscous drive providing meaningful insights into the credible speed-regulating behavior during the soft-start. Design/methodology/approach A comprehensive dynamic transmission model is proposed to investigate the effects of key parameters on the dynamic characteristics. To achieve a trade-off between the transmission efficiency and time proportion of hydrodynamic and mixed lubrication, a multi-objective optimization of friction pair system by genetic algorithm is presented to obtain the optimal combination of design parameters. Findings Decreasing the engagement pressure or the ratio of inner and outer radius, increasing the lubricating oil viscosity or the outer radius will result in the increase of time proportion of hydrodynamic and mixed lubrication, as well as the transmission efficiency and its maximum value. After optimization, main dynamic parameters including the oil film thickness, angular velocity of the driven disk, viscous torque and total torque show remarkable flexible transmission characteristics. Originality/value Both the dynamic transmission model and multi-objective optimization model are established to analyze the effects of main design parameters on the dynamic characteristics of hydro-viscous flexible drive.

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Dynamic Characteristics of a Six-Bar Hinge Mechanism as Used in Cabinets

Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2004-57026 ◽

2004 ◽

Author(s):

Fu-Chen Chen

Keyword(s):

Dynamic Characteristics ◽

Equations Of Motion ◽

Equation Of Motion ◽

Simulation Results ◽

Good Agreement

The dynamic characteristics of a six bar hinge mechanism as used in home cabinets were investigated using the method of equation of motion. The derived equations of motion were numerically solved and the motion of the hinge mechanism was simulated. The influence of mass and width of the cabinet door on the dynamic characteristics of the hinge mechanism as well as the effect of the hinge number on the force applied on the handle were also investigated. The experimental and simulation results showed good agreement with an error of under 2%, which validated the simulation results. The proposed approach can be used by hinge manufacturers for the design and analysis of similar hinge mechanisms.

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