Research on Kinematic for the Mechanism of Wheel-Leg Mobile Robot with Multi-Sports Mode

2014 ◽  
Vol 1044-1045 ◽  
pp. 850-853
Author(s):  
Meng Jun Song ◽  
Cheng Jun Ding ◽  
Xu Long Wang ◽  
Yi Zhou ◽  
Hai Song Zhou
Keyword(s):  
Mobile Robot ◽  
Parallel Mechanism ◽  
Kinematic Model ◽  
Mechanism Model ◽  
Experimental Prototype ◽  
Walking Mechanism ◽  
Serial Mechanism

Based on the walking mechanism and the researching method for the serial-parallel mechanism, one multi-sports mode wheel-leg mobile robot is proposed in this paper; Firstly, the serial mechanism model of one leg is constructed, and the method for constructing the kinematic model of the single leg mechanism is studied; Secondly, based on the study of the single leg mechanism, the kinematic model of the parallel mechanism of the multi-sports mode wheel-leg robot is further constructed when the robot is in the support state; Finally, based on the methods and theories discussed above, the experimental prototype mobile robot is constructed, so feasibility of the proposed method is verified.

scholarly journals A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1468
Author(s):  
Luis Nagua ◽  
Carlos Relaño ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Element Analysis ◽  
New Approach ◽  
Flexible Polymer ◽  
The Mathematical Model

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

scholarly journals An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

2021 ◽  
Vol 11 (4) ◽  
pp. 1594 ◽  
Author(s):  
Andrea Botta ◽  
Paride Cavallone ◽  
Luigi Tagliavini ◽  
Luca Carbonari ◽  
Carmen Visconte ◽  
...  
Keyword(s):  
Experimental Data ◽  
Mobile Robot ◽  
Trajectory Planning ◽  
Kinematic Model ◽  
Close Connection ◽  
Wheel Slip ◽  
Robot Architecture ◽  
Experimental Campaign ◽  
Base Concept ◽  
Kinematic Behaviour

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.

Dynamics of a Two-DOF Parallel Pointing Mechanism

2005 ◽  
Author(s):  
Alessandro Cammarata ◽  
Rosario Sinatra
Keyword(s):  
Numerical Simulation ◽  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Kinematic Model ◽  
Degree Of Freedom ◽  
Numerical Examples ◽  
Proposed Model ◽  
Dynamic Analyses ◽  
Moving Platform ◽  
Two Degree Of Freedom

This paper presents kinematic and dynamic analyses of a two-degree-of-freedom pointing parallel mechanism. The mechanism consists of a moving platform, connected to a fixed platform by two legs of type PUS (prismatic-universal-spherical). At first a simplified kinematic model of the pointing mechanism is introduced. Based on this proposed model, the dynamics equations of the system using the Natural Orthogonal Complement method are developed. Numerical examples of the inverse dynamics results are presented by numerical simulation.

Realization of an Arbitrary Elastic Behavior With an Elastic Mechanism Having Concurrent Axes

2000 ◽  
Author(s):  
Shuguang Huang ◽  
Joseph M. Schimmels
Keyword(s):  
Stiffness Matrix ◽  
Parallel Mechanism ◽  
Elastic Behavior ◽  
Unique Point ◽  
Compliance Matrix ◽  
Elastic Mechanism ◽  
Serial Mechanism

Abstract In this paper, synthesis of an arbitrary elastic behavior with an elastic mechanism is addressed. The mechanisms considered are parallel and serial mechanisms with concurrent axes. We show that any stiffness matrix can be realized through a parallel mechanism with all spring axes intersecting at a unique point. This point is shown to be the center of stiffness. We also show that any compliance matrix can be realized through a serial mechanism with all joint axes intersecting at a unique point. This point is shown to be the center of compliance. Synthesis procedures for mechanisms with these properties are provided.

scholarly journals Three Wheeled Omnidirecional Mobile Robot - Design and Implementation

2021 ◽  
Author(s):  
Darci Luiz Tomasi Junior ◽  
Eduardo Todt
Keyword(s):  
Mobile Robot ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Robot Design ◽  
Kinematic Equation ◽  
Design And Implementation ◽  
Validation Procedure ◽  
Functional Prototype ◽  
Detailed Presentation

This article presents a study of the resources necessary to providemovement and localization in three wheeled omnidirectionalrobots, through the detailed presentation of the mathematical proceduresapplicable in the construction of the inverse kinematic model,the presentation of the main hardware and software componentsused for the construction of a functional prototype, and the testprocedure used to validate the assembly.The results demonstrate that the developed prototype is functional,as well as the developed kinematic equation, given the smallerror presented at the end of the validation procedure.

scholarly journals The Mobile Robot HILARE: Dynamic Modeling and Motion Simulation

2015 ◽  
Vol 4 (2) ◽  
pp. 150
Author(s):  
M. Ghazal ◽  
A. Talezadeh ◽  
M. Taheri ◽  
M. Nazemi-Zade
Keyword(s):  
Mobile Robot ◽  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Kinematic Model ◽  
Dynamic Equations ◽  
Motion Simulation ◽  
Governing Equations ◽  
Kinematic Constraints ◽  
Extended Application ◽  
The Matrix

To perform mission in variant environment, several types of mobile robot has been developed an implemented. The mobile robot HILARE is a known wheeled mobile robot which has two fixed wheels and an off-entered orientable wheel. Due to extended application of this robot, its dynamic analysis has attracted a great deal of interests. This article investigates dynamic modeling and motion analysis of the mobile robot HILARE. As the wheels of the robot have kinematic constraints, the constraints of wheels are taken into consideration and the matrix form of the kinematic model of the robot is derived. Furthermore, dynamic model of the robot is developed by consideration of kinematic constraints. To derive dynamic equations of the robot, the Lagrange multiplier method is employed and the governing equations of the robot in state-pace form are presented. Then, some simulations are presented to show applicability of the proposed formulation for dynamic analysis of the mobile robot HILARE.

Spatial Compliances Achieved With Serial Elastic Mechanisms

2000 ◽  
Author(s):  
Shuguang Huang ◽  
Joseph M. Schimmels
Keyword(s):  
Rotational Motion ◽  
Stiffness Matrix ◽  
Parallel Mechanism ◽  
Elastic System ◽  
Compliance Matrix ◽  
Elastic Joint ◽  
Compliant Behavior ◽  
Elastic Mechanism ◽  
Spatial Compliance ◽  
Serial Mechanism

Abstract Previously, the structure of a spatial stiffness matrix and its realization using a parallel elastic system have been addressed. This paper extends those results to the analysis and realization of a spatial compliance matrix using a serial mechanism. We show that, a spatial compliance matrix can be decomposed into a set of rank-1 primitive matrices, each of which can be realized with an elastic joint in a serial mechanism. To realize a general spatial compliance, the serial mechanism must contain joints that couple the translational and rotational motion along/about an axis. The structure of a spatial compliance matrix can be uniquely interpreted by a 6-joint serial elastic mechanism whose geometry is obtained from the eigenscrew decomposition of the compliance matrix. The results obtained from the analysis of spatial compliant behavior and its realization in a serial mechanism are compared with those obtained for spatial stiffness behavior and its realization in a parallel mechanism.

A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission

2021 ◽  
pp. 1-23
Author(s):  
Yujiong Liu ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Parallel Mechanism ◽  
Kinematic Model ◽  
Rigid Motion ◽  
Artificial Muscle ◽  
Dexterous Manipulation ◽  
Base Extension ◽  
Hybrid Mechanism ◽  
Continuum Robot ◽  
Kinematic Analyses ◽  
Continuum Manipulator

Abstract An extensible continuum manipulator (ECM) has specific advantages over its non-extensible counterparts. For instance, in certain applications, such as minimally invasive surgery or pipe inspection, the base motion might be limited or disallowed. The additional extensibility provides the robot with more dexterous manipulation and a larger workspace. Existing continuum robot designs achieve extensibility mainly through artificial muscle/pneumatic, extensible backbone, concentric tube, and base extension, etc. This paper proposes a new way to achieve this additional motion degree of freedom by taking advantage of the rigid coupling hybrid mechanism concept and a flexible parallel mechanism. More specifically, a rack and pinion set is used to transmit the motion of the i-th subsegment to drive the (i+1)-th subsegment. A six-chain flexible parallel mechanism is used to generate the desired spatial bending and one extension mobility for each subsegment. This way, the new manipulator can achieve tail-like spatial bending and worm-like extension at the same time. Simplified kinematic analyses are conducted to estimate the workspace and the motion non-uniformity. A proof-of-concept prototype was integrated to verify the mechanism’s mobility and to evaluate the kinematic model accuracy. The results show that the proposed mechanism achieved the desired mobilities with a maximum extension ratio of 32.2% and a maximum bending angle of 80 degrees.

Dynamic model of spherical parallel mechanism for wheel-leg hybrid mobile robot

2019 ◽  
Vol 27 (8) ◽  
pp. 1800-1810
Author(s):  
陈 原 CHEN Yuan ◽  
何淑垒 HE Shu-lei ◽  
姜 媛 JIANG Yuan ◽  
桑董辉 SANG Dong-hui ◽  
宁淑荣 NING Shu-rong
Keyword(s):  
Mobile Robot ◽  
Dynamic Model ◽  
Parallel Mechanism ◽  
Spherical Parallel Mechanism
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