The Mechanical System Structure Design and Kinematics Analysis of the Bipedal Humanoid Robot Leg

2014 ◽  
Vol 496-500 ◽  
pp. 857-860
Author(s):  
Deng Qi Cui ◽  
Hong Bing Xin ◽  
Long Liu ◽  
Tan Wang ◽  
Yue Fei Xin
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Screw Theory ◽  
Structure Design ◽  
System Structure ◽  
Joint Movement ◽  
Kinematics Analysis ◽  
Walking Robot ◽  
Design Requirements ◽  
The Mathematical Model

In the study of humanoid robot, the system design and analysis of the legs is the foundation of realizing humanoid walking robot. In this paper, structure design of each leg joint has been introduced, and according to the degrees of freedom of each joint distribution, using screw theory and exponential product formula to establish the mathematical model of the legs, to analyze the kinematics of the legs, finally obtains that the range of joint movement comply with the design requirements.

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

Mechanical Structure Design of Ontology of the Automatic Line-Tracking Inspection Device Based on Pro/E Modeling and the Kinematics Analysis

2012 ◽  
Vol 220-223 ◽  
pp. 1131-1137
Author(s):  
Sheng Mei Luo ◽  
Le Tian ◽  
Bo Zhang
Keyword(s):  
Transmission Lines ◽  
Screw Theory ◽  
Characteristic Parameter ◽  
Structure Design ◽  
Kinematics Analysis ◽  
Modeling Software ◽  
On Line ◽  
Line Tracking ◽  
Set Up ◽  
And Control

A new line-tracking inspection device which can move on the high voltage transmission lines and control on the ground by people is presented in this paper. The device has three mechanical arms, every arm can lift and rotate automatically, and manipulator can open and close automatically. The flexible design is used in lower riding wheel, this design can make the upper and lower riding wheel automatically adjustment, so as to adapt to the change of wire diameter. Automatic checking and autonomous negotiating obstacles are realized successfully in this device. The biggest breakthrough is that its automatic on-line or off-line can be completed by operator operating the auxiliary tools on the ground. This article uses the Pro/E modeling software set up the virtual prototype of the line-tracking inspection device based on characteristic parameter model. The process of on-line or off-line automatically and the process of negotiating obstacles are discussed in this paper. Using the product of exponentials formula based the on screw theory, the kinematics analysis is processed in this paper. The forward and inverse solution of kinematics equations is presented and at last the Jacobian matrix is given. The results of experiments with simulation transmission lines demonstrate that the device has realized the specified work tasks and runs smoothly.

The Nonexistence of Three Degrees of Freedom Rotational Fully Decoupled Parallel Mechanism

2013 ◽  
Vol 284-287 ◽  
pp. 1951-1955 ◽  
Author(s):  
Yu Lei Hou ◽  
Da Xing Zeng ◽  
Yan Bin Duan ◽  
Yong Sheng Zhao
Keyword(s):  
Control System ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Structure Design ◽  
Theoretical Significance ◽  
Moving Platform ◽  
Configuration Synthesis ◽  
Three Degrees Of Freedom ◽  
Serial Mechanism

The existence of coupling makes the parallel mechanism possess some special advantages over the serial mechanism, while it is just the coupling that brings about the parallel mechanism some difficulties in kinematics and dynamic analysis, the development of control system, and the trajectory planning. Therefore the research on the decoupled parallel mechanism becomes one of the hot of the mechanism fields. While whether the parallel mechanism can realize decouple is the premise for synthesis and analysis of the parallel mechanism. Based on screw theory, the existence of the three degrees of freedom (3-DoF) rotational fully-decoupled parallel mechanism is distinguished. Then taking the 6-PUS/UPU parallel mechanism as example, the rotation angles of the moving platform are measured, which is verified the impossibility of the 3-DoF rotation decoupling. The contents of this paper should possess theoretical significance for the innovative configuration synthesis and structure design of rotational decoupled parallel mechanism.

Kinematics Analysis Based on Screw Theory of a Humanoid Robot

2007 ◽  
Vol 17 (1) ◽  
pp. 49-52 ◽  
Author(s):  
Cui-hua MAN ◽  
Xun FAN ◽  
Cheng-rong LI ◽  
Zhong-hui ZHAO
Keyword(s):  
Humanoid Robot ◽  
Screw Theory ◽  
Kinematics Analysis

A serial of novel four degrees of freedom parallel mechanisms with large rotational workspace

Robotica ◽  
2014 ◽  
Vol 34 (4) ◽  
pp. 764-776 ◽  
Author(s):  
Sheng Guo ◽  
Wei Ye ◽  
Haibo Qu ◽  
Dan Zhang ◽  
Yuefa Fang
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Planetary Gear ◽  
Gear Train ◽  
Parallel Mechanisms ◽  
Kinematics Analysis ◽  
Kinematic Chains ◽  
Moving Platform ◽  
Partition Method

SUMMARYIn this paper, a class of novel four Degrees of Freedom (DOF) non-overconstrained parallel mechanisms with large rotational workspace is presented based on screw theory. First, the conflict between the number of independent constraints applied on the moving platform and the number of kinematic limbs for 4-DOF non-overconstrained parallel mechanism is identified. To solve this conflict, the platform partition method is introduced, and two secondary platforms are employed in each of the parallel mechanisms. Then, the motion requirements of the secondary platforms are analyzed and all the possible kinematic chains are enumerated. The geometrical assembly conditions of all possible secondary limbs are analyzed and some typical non-overconstrained parallel mechanisms are generated. In each of the parallel mechanisms, a planetary gear train is used to connect both of the secondary platforms. The large rotational workspace of the moving platform is obtained due to the relative motion of the two secondary platforms. Finally, the kinematics analysis of a typical parallel mechanism is conducted.

Structures Analysis and Optimum Design of the Large Stroke Two-Axis Fast Tool Servo

2013 ◽  
Vol 853 ◽  
pp. 477-481 ◽  
Author(s):  
Jia Qi Wu ◽  
Qing Zou ◽  
Tao Wang ◽  
Qi Chao Zhang ◽  
Yong Li Zhang ◽  
...  
Keyword(s):  
Surface Analysis ◽  
Optimum Design ◽  
Degrees Of Freedom ◽  
Static Characteristic ◽  
Structure Design ◽  
Degree Of Freedom ◽  
Strength Characteristics ◽  
Fast Tool Servo ◽  
Design Requirements ◽  
Two Degree Of Freedom

A two degree of freedom large-stroke linear FTS device was designed in this paper, the device with flexible hinges as the guidance and support part, achieved the linear degrees of freedom in X and Z. In addition, structure design and optimizationanalysis of static characteristic and dynamic characteristicresponse surface analysis of FTS device were worked as well in this paper ,then the stiffness and strength characteristics of FTS device has been greatly improved, fully meet the design requirements, achieved the desired effect.

On the Comprehensive Kinematics Analysis of a Humanoid Parallel Ankle Mechanism

2018 ◽  
Vol 10 (5) ◽  
Author(s):  
Chengxu Zhou ◽  
Nikos Tsagarakis
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Kinematics ◽  
Kinematics Analysis ◽  
Full Characterization ◽  
Ankle Joints ◽  
Complete Study ◽  
Torque Capacity ◽  
And Performance

In this paper, we present a thorough kinematics analysis of a humanoid two degrees-of-freedom (DoF) ankle module based on a parallel kinematics mechanism. Compared with the conventional serial configuration, the parallel kinematics ankle permits the distribution of the torque/power of the actuators to the two DoF of the ankle taking full advantage of available power/torque capacity of the two actuators. However, it complicates the kinematics study in return. In this work, a complete study of a parallel ankle mechanism is performed that permits the full characterization of the ankle module for the purpose of its design study, control, and performance evaluation. Screw theory is employed for mobility analysis to first determine the number and properties of the mechanism's DoFs. Then the inverse kinematics is solved analytically and the Jacobian matrix for describing the velocity relation between the ankle joints and motors is found. Based on these results, the forward kinematics of the parallel mechanism can be numerically computed using the Newton–Raphson method. The workspace of the ankle is also analyzed and the motor limits are decided accordingly. Finally, an experimental demonstration consisting of four tests is carried out to evaluate the proposed methods and ankle module.

Design and Analysis of a Novel 6-URS Self-Reconfigurable All-Dimensional Walking Robot

2018 ◽  
Author(s):  
Yanwen Li ◽  
Zhaoxu Qi ◽  
Pengfei Mao ◽  
Wenlong Sun ◽  
Juan Jiao ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Walking Robot ◽  
Before And After

This paper presents a novel 6-URS self-reconfigurable all-dimensional walking robot. The model of the 6-URS self-reconfigurable walking robot is established, then its reconfiguration modes are proposed. Based on the screw theory, the degrees of freedom (DOF) of this robot before and after reconfiguration are analysed separately to verify the feasibility of self-reconfiguration. This robot can achieve self-reconfigurable function with the design of self-reconfigurable limbs. Moreover, the trajectory planning and simulation of three kinds of gaits are performed, including walking horizontally, turning and climbing. The above analysis shows that the 6-URS self-reconfigurable all-dimensional robot satisfies the walking requirements and has the reconfigurable ability in unstrcutured environment.

Kinematics Analysis of a 3-RRR Spherical Parallel Mechanism with Coaxial Input Shafts

2013 ◽  
Vol 404 ◽  
pp. 237-243
Author(s):  
Yu Lei Hou ◽  
Xin Zhe Hu ◽  
Da Xing Zeng
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Inverse Solution ◽  
Kinematics Analysis ◽  
Motion Feature ◽  
Displacement Problem ◽  
Spherical Parallel Mechanism ◽  
Three Degrees Of Freedom

As an important mechanism with special and extensive application, the three degrees of freedom spherical parallel mechanism is always a research hot in the mechanical fields. In this paper, the feature of the 3-RRR spherical parallel mechanism with coaxial input shafts is introduced, and its motion feature is analyzed based on the screw theory. The mobility of the spherical parallel mechanism is calculated by using the Modified Kutzbach-Grübler criterion, and the inverse displacement problem of the mechanism is solved. Then the expression of the Jacobian matrix is deduced based on the kinematics equation and its inverse solution. The contents of this paper should be useful for the further application of the spherical parallel mechanism.

Design and Analysis of a Reconfigurable Walking Robot Based on 6-URS Mechanism

2016 ◽  
Author(s):  
Yanwen Li ◽  
Wenlong Sun
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Walking Robot ◽  
Gait Planning ◽  
Control Research ◽  
Reconfigurable Robot ◽  
Zero Moment ◽  
The Stability ◽  
Important Significance ◽  
And Task

This paper presents a new reconfigurable walking robot that can be applied to the unstructured environment and task. The advantages of reconfigurable robot and walking robot are applied to the walking robot. In order to test and verify the superiority of the robot, the model of 6-URS reconfigurable walking robot is established, the degrees of freedom of the robot before reconfiguration and after reconfiguration is computed separately, and the rationality of the driving plan is judged with the aid of screw theory. Then, the calculation formula of zero moment point is deduced and the stability condition of the robot in the process of walking and reconstructing is obtained according to D’Alembert’s principle. The above analysis shows the 6-URS robot can not only satisfy the requirement of walking but also has the ability of reconfigurability. After reconstructed, the robot can perform the tasks by its arms, such as handling and grabbing. The researching result of this paper possesses important significance on the dynamics analysis, control research and gait planning of this walking robot.

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