Forward and Inverse Kinematic of Continuum Robot for Search and Rescue

2013 ◽  
Vol 712-715 ◽  
pp. 2290-2295
Author(s):  
Guang Zhu Meng ◽  
Guang Ming Yuan ◽  
Zhe Liu ◽  
Jun Zhang
Keyword(s):  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
Search And Rescue ◽  
Medical Surgery ◽  
Geometrical Approach ◽  
Kinematics Analysis ◽  
Urban Search And Rescue ◽  
Continuum Robot ◽  
New Type ◽  
Mine Collapse

Continuum robot is a new type robot which has many applications,such as medical surgery, mine collapse, urban search and rescue etc. In this paper, the forward and inverse kinematics analysis of continuum robot for search and rescue is presented. The forword kinematic has been formulated by product of exponentials. The inverse kinematics for the robot is carried out by a geometrical approach. Finally, the forward and inverse kinematic simulation is completed by Matlab. The simulation results are given for the robot to illustrate the method effectiveness.

Kinematics Analysis of Four-Legged Walking Robots for Grabbing Object

2012 ◽  
Vol 220-223 ◽  
pp. 1262-1266
Author(s):  
Jing Chao Zou ◽  
Liang Wen Wang ◽  
Chuan Peng Wang ◽  
Wei Hong Chen
Keyword(s):  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
The Body ◽  
Walking Robots ◽  
Kinematics Analysis ◽  
Practical Application ◽  
Analysis Process ◽  
Foot Function ◽  
New Type ◽  
Formula Expression

Development of integrated hand-foot function is the inevitable choice for the practical application of multi-legged robots. In this paper, a new type of robot which has the structure of four-legged walking robot based on hand-foot-integration is introduced. The image system is installed in the body of the robot, which is used to direct the robot to complete grabbing object. Kinematics relations of grasping states of robot are described. The inverse kinematic is analyzed in details. Firstly, the structure of the robot is introduced. Secondly, the kinematics relation of serial manipulator with grasping function is researched. Finally, the inverse kinematics of robot in grasping object is obtained. The relevant formula is deduced in this paper, and the formula expression is given. The analysis process is last verified through a numerical example. The model can be used for motion control of robot.

Design and Kinematic Analysis of a Novel Machine Tool With Four Rotational Axes and One Translational Axis

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Song Gao ◽  
Jihong Chen ◽  
Shusheng Liu ◽  
Xiukun Yuan ◽  
Pengcheng Hu ◽  
...  
Keyword(s):  
Machine Tool ◽  
Kinematic Analysis ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Kinematics Analysis ◽  
Rotary Axes ◽  
Machining Quality ◽  
New Type ◽  
Kinematic Performance ◽  
Five Axis

Abstract Due to their superior machining quality, efficiency, and availability, five-axis machine tools are important for the manufacturing of complicated parts of freeform surfaces. In this study, a new type of the five-axis machine tool was designed that is composed of four rotary axes as well as one translational axis. Given the structure of the proposed machine tool, an inverse kinematics analysis was conducted analytically, and a set of methods was then proposed to address the issues in the kinematic analysis, e.g., the singularity and multi-solution problems. Compared with traditional five-axis machine tools, which are typically composed of three linear axes and two rotary axes, the proposed machine tool exhibited better kinematic performance with machining parts with hub features, such as impellers, which was validated by simulations and real cuttings.

A New Type of Servo Direct Drive Turret Punch Press

2010 ◽  
Vol 139-141 ◽  
pp. 752-757 ◽  
Author(s):  
Kai He ◽  
Jiu Hua Li ◽  
Xie Feng Ou ◽  
Ru Xu Du
Keyword(s):  
Inverse Kinematics ◽  
Static Force ◽  
Kinematics Analysis ◽  
Direct Drive ◽  
Force Analysis ◽  
Output Force ◽  
Working Capability ◽  
New Type ◽  
Production Requirement ◽  
Punch Press

A new type of servo direct drive turret punch press is presented. A servomotor to drive the eccentric-toggle mechanism is used in our design, which combines the advantages of mechanical and hydraulic turret punch press. The displacement, velocity, and acceleration of the punch are calculated, through the kinematics analysis. So, the motion of the punch is controllable through the rotation of the servomotor. Then, the inverse kinematics analysis is studied in detail, and the corresponding motion of the servomotor can be gotten, for different punch motion curves, according to the production requirement. For example, when we design a motion of the punch for a particular stamping process, the motion of servomotor can be obtained through the inverse kinematics analysis. Finally, Output force is acquired by static force analysis, which decides the working capability of the mechanism.

Kinematics Analysis and Simulation of a New Type of Mechanical Excavator with Controllable Mechanism

2011 ◽  
Vol 201-203 ◽  
pp. 220-224 ◽  
Author(s):  
Gan Wei Cai ◽  
Zhuan Zhang ◽  
Yu Chen Pan ◽  
Du Chao Wu ◽  
Xi Yong Xu
Keyword(s):  
Simulation Study ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Maintenance Cost ◽  
Hydraulic Excavator ◽  
Kinematics Analysis ◽  
Constraint Equations ◽  
New Type

A new type of excavator is introduced in this paper aiming at solving the problems the hydraulic excavator and traditional mechanical excavator (also called Electric Shovel) have respectively, which are hydraulic leaks and high maintenance cost of the former one and the lack of flexibility of the latter one. The analysis of the proposed novel excavator is carried out including: Degree-of-Freedom (DOF) of the new mechanism by constraint screw theory, inverse kinematics using the method of constraint equations, velocities and acceleration. A simulation study is proposed based on the analysis above. Results show that: the new type of mechanical excavator has the ability to achieve flexible trajectory output within its workspace.

scholarly journals Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Seemal Asif ◽  
Philip Webb
Keyword(s):  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematics Analysis ◽  
Inverse Kinematic Problem ◽  
Model Study ◽  
Spherical Wrist ◽  
Forward And Inverse Kinematics ◽  
Articulated Robot

The aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. The kinematics solution has been verified by solving the manipulator’s motion. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator.

An Omnidirectional, Direct Singularity Drive System and its Inverse Kinematic Model

2014 ◽  
Author(s):  
Julie A. Reyer ◽  
Matthew T. West ◽  
Praveen K. Jonnavittula ◽  
Christopher T. Costello ◽  
Curtis Boirum
Keyword(s):  
Inverse Kinematics ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Effective Radius ◽  
Drive System ◽  
Experimental Results ◽  
Kinematics Analysis ◽  
Thrust Vector ◽  
Singularity Point ◽  
Singularity Drive System

This paper presents an omnidirectional drive system. The design presented here involves a spinning hemispherical wheel mounted on a gimbal. The wheel operates at its singularity point when in the “neutral” or static position. As the gimbal is tilted, the wheel provides a thrust vector to the vehicle. The tilt determines the effective radius of the wheel, which in turn determines the amount of power that can be transmitted for motion. The paper presents the design and kinematic and inverse kinematics analysis of a singularity drive mechanism. Vehicles can have single or multiple singularity drive mechanisms to achieve increasing levels of maneuverability. From a control standpoint, each singularity drive is kinematically decoupled from other drives on the same vehicle. Vehicles with one, two and three singularity drive mechanisms are introduced and some experimental results are presented.

scholarly journals Mechanical Design and Kinematics Analysis of a Hydraulically Actuated Manipulator

2014 ◽  
Vol 8 (1) ◽  
pp. 457-461
Author(s):  
Xuewen Rong ◽  
Rui Song ◽  
Hui Chai ◽  
Xiaolin Ma
Keyword(s):  
Inverse Kinematics ◽  
Mechanical Design ◽  
Transformation Method ◽  
Inverse Kinematic ◽  
Kinematics Analysis ◽  
End Effector ◽  
Hydraulically Actuated ◽  
Inverse Solutions ◽  
Six Dof ◽  
Forward Kinematic

This paper gives a mechanism design of a six DOF hydraulically actuated manipulator firstly. Then its DH frames and link parameters are given. Next, its forward kinematic equations are derived according to homogeneous transformation method. Fourthly, the analytical solutions of its inverse kinematics are solved by given the position and posture of the end-effector simultaneously. The posture of the end-effector is given with three z-y-z Euler angles for they have obvious geometry meanings and are easy to be measured. In addition, the correctness of the inverse kinematic equations is verified in Simulink by comparing many sets of randomly produced joint variables in workspace and their corresponding inverse solutions.

Urban Search and Rescue with Anti-pheromone Robot Swarm architecture

2021 ◽  
Author(s):  
Ruben Martin Garcia ◽  
Daniel Hernandez de la Iglesia ◽  
Juan F. de Paz ◽  
Valderi R. Q. Leithardt ◽  
Gabriel Villarrubia
Keyword(s):  
Search And Rescue ◽  
Urban Search And Rescue ◽  
Robot Swarm
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