Structural and kinematic synthesis of multi — Degree of freedom high-class manipulation devices

2005 ◽  
pp. 301-310
Author(s):  
Djoldasbekov U.A. ◽  
Baigunchekov J.J. ◽  
Ibraev S.M.
Keyword(s):  
Degree Of Freedom ◽  
Kinematic Synthesis ◽  
High Class

scholarly journals Design of a Spatial RPR-2SS Valve Mechanism

2018 ◽  
Vol 10 (4) ◽  
Author(s):  
Peter L. Wang ◽  
Ulrich Rhem ◽  
J. Michael McCarthy
Keyword(s):  
Tunnel Boring Machine ◽  
Degree Of Freedom ◽  
Valve Mechanism ◽  
Kinematic Synthesis ◽  
Soil Conditioning ◽  
Spatial Mechanism ◽  
Tunnel Boring ◽  
Serial Chain ◽  
Smooth Movement ◽  
Cylindrical Array

This paper applies kinematic synthesis theory to obtain the dimensions of a constrained spatial serial chain for a valve mechanism that cleans and closes a soil conditioning port in a tunnel boring machine. The goal is a smooth movement that rotates a cylindrical array of studs into position and then translates it forward to clean and close the port. The movement of the valve is defined by six positions of the revolute-prismatic-revolute (RPR) serial chain. These six positions are used to compute the dimensions of the two spherical spherical (SS) dyads that constrain the RPR chain to obtain a one degree-of-freedom spatial mechanism. An example design of this valve mechanism is provided in detail.

Design and Actuation of a Skeleton for a Robotic Fish

2021 ◽  
Author(s):  
Dina Joy K. Abulon ◽  
Jiaji Li ◽  
J. Michael McCarthy
Keyword(s):  
Degree Of Freedom ◽  
Robotic Fish ◽  
Air Pressure ◽  
Kinematic Synthesis ◽  
Locomotion System ◽  
Synthesis Procedure

Abstract In this paper, we present the design of a pneumatically actuated skeleton for a robotic fish. The tail is designed as a one degree of freedom coiling truss that is actuated by air pressure supplied to pouch actuators along the truss. We present that kinematic synthesis procedure, the fabrication and testing of the fish tail system. Our goal is an efficient and effective fish-like locomotion system.

Design of a High-Speed Spherical Four-Bar Mechanism for Use in a Motion Common in Assembly Processes

2007 ◽  
Author(s):  
Andrew P. Murray ◽  
Franc¸ois Pierrot
Keyword(s):  
Sensitivity Analysis ◽  
High Speed ◽  
Mechanical Design ◽  
Degree Of Freedom ◽  
Kinematic Synthesis ◽  
Control Scheme ◽  
Smooth Motion ◽  
Spherical Mechanism

In this paper, we present the mechanical design of a spherical four-bar mechanism for performing a motion common in manufacturing and assembly processes. The mechanism is designed to create, in a single, smooth motion, the combined rotation of a body by 90 degrees about one axis with a 90 degree rotation about an axis perpendicular to the first. A spherical four-bar mechanism is pursued as the basis for the design because the reorientation is produced mechanically rather than via a control scheme typical when higher degree of freedom systems are utilized. The design initiates with the kinematic synthesis of the spherical mechanism to guide a body through two orientations. The next step in the design is to refine the spherical fourbar based on manufacturing and operational concerns. As one of the challenges of utilizing these four-bars is tuning the starting and ending angle for the mechanism’s motion, a sensitivity analysis is performed to gauge the needed accuracy. Finally, there are details and a discussion of the proposed mechanical design.

Kinematic Synthesis of a Medical Bed for Decubitus Ulcer Patients

2003 ◽  
Author(s):  
Jae Kyung Shim ◽  
Chang Sup Shim ◽  
Jin Wook Kwon
Keyword(s):  
Soft Tissue ◽  
Pressure Ulcer ◽  
Decubitus Ulcer ◽  
Degree Of Freedom ◽  
Shear Forces ◽  
Kinematic Synthesis ◽  
Principal Factors ◽  
Left And Right ◽  
Time Reduction

A decubitus ulcer or bedsore is a pressure-induced ulceration of the skin occurring in persons confined to bed for long periods of time. Reduction of pressure over bony prominences is of primary importance to prevent and cure bedsores. For this purpose, specially designed mattresses can be used and/or the patient should be turned frequently to avoid ischemia of soft tissue. In addition to pressure, other principal factors causing bedsore are friction and shear forces. In this paper, we designed a new 5 degree of freedom bed mechanism that can be used to change the posture of pressure ulcer patients, which generates 7 motions including backrest elevation, kneerest elevation, lounge position, left and right rotation, trendelenberg and reverse trendelenberg motion, and straight elevation. Particularly, we focused on the synthesis of a backrest and seatrest assembly that can reduce sliding between the bed and the patient.

Kinematic Synthesis of Minimally Actuated Multi-Loop Planar Linkages With Second Order Motion Constraints for Object Grasping

2013 ◽  
Author(s):  
Gim Song Soh ◽  
Nina Robson
Keyword(s):  
Second Order ◽  
Human Robot Interaction ◽  
Degree Of Freedom ◽  
Dimensional Synthesis ◽  
Open Problems ◽  
Kinematic Synthesis ◽  
Human Environment ◽  
Kinematic Chains ◽  
Curvature Effects ◽  
Planar Linkages

In this paper, we consider the dimensional synthesis of one degree-of-freedom multi-loop planar linkages such that they do not violate normal direction and second order curvature constraints imposed by contact with objects. Our goal is in developing minimally actuated multi-loop mechanical devices for human-robot interaction, that is, devices whose tasks will happen in a human environment. Currently no systematic method exists for the kinematic synthesis of robotic fingers that incorporate multi-loop kinematic structure with second order task constraints, related to curvature. We show how to use these contact and curvature effects to formulate the synthesis equations for the design of a planar one-degree-of-freedom six-bar linkage. An example for the design of a finger that maintains a specified contact with an object, for an anthropomorphic task, is presented at the end of the paper. It is important to note, that the theoretical foundation presented in this paper, assists in solving some of the open problems of this field, providing preliminary results on the synthesis of kinematic chains with multi-loop topology and the use of novel task specifications that incorporate curvature constraints with future applications in grasping and object manipulation.

Design Considerations for an Articulated Leg-Wheel Locomotion Subsystem

2004 ◽  
Author(s):  
Seung Kook Jun ◽  
Venkat N. Krovi
Keyword(s):  
Sagittal Plane ◽  
Degree Of Freedom ◽  
Kinematic Synthesis ◽  
Ground Clearance ◽  
Uneven Terrain ◽  
Design Considerations ◽  
Serial Chain ◽  
Vehicle Systems ◽  
Lower Pair ◽  
Adequate Ground

In this paper, we examine and evaluate candidate articulated leg-wheel subsystem designs for use in vehicle systems with enhanced uneven-terrain locomotion capabilities. The leg-wheel subsystem designs under consideration consist of disk wheels attached to the chassis through an articulated linkage containing multiple lower-pair joints. Our emphasis is on creating a design that permits the greatest motion flexibility between the chassis and wheel while maintaining the smallest degree-of-freedom (d.o.f.) within the articulated chain. In particular, we focus our attention on achieving two goals: (i) obtaining adequate ground clearance by designing the desired/feasible motions of the wheel axle, relative to the chassis, using methods from kinematic synthesis; and (ii) reducing overall actuation requirements by a judicious mix of structural equilibration design and spring assist. We examine this process in the context of two candidate designs — a coupled-serial-chain configuration and four-bar-configuration — for the articulated-leg-wheel subsystem. The performance of planar variants of these designs, operating in the sagittal plane, is evaluated and representative results are presented to highlight the process.

Kinematic synthesis method for the one-degree-of-freedom jumping leg mechanism of a locust-inspired robot

2019 ◽  
Vol 63 (3) ◽  
pp. 472-487 ◽  
Author(s):  
ZiQiang Zhang ◽  
Qi Yang ◽  
Jing Zhao ◽  
Bin Chang ◽  
XingKun Liu
Keyword(s):  
Synthesis Method ◽  
Degree Of Freedom ◽  
Kinematic Synthesis ◽  
The One

Kinetostatic Design Considerations for an Articulated Leg-Wheel Locomotion Subsystem

2005 ◽  
Vol 128 (1) ◽  
pp. 112-121 ◽  
Author(s):  
Seung Kook Jun ◽  
Glenn D. White ◽  
Venkat N. Krovi
Keyword(s):  
Degree Of Freedom ◽  
Kinematic Synthesis ◽  
Design Synthesis ◽  
Single Degree Of Freedom ◽  
Uneven Terrain ◽  
Serial Chain ◽  
Vehicle Systems ◽  
Lower Pair ◽  
Adequate Ground

Our long-term goal is one of designing land-based vehicles to provide enhanced uneven-terrain locomotion capabilities. In this paper, we examine and evaluate candidate articulated leg-wheel subsystem designs for use in such vehicle systems. The leg-wheel subsystem designs under consideration consist of disk wheels attached to the chassis through an articulated linkage containing multiple lower-pair joints. Our emphasis is on creating a design that permits the greatest motion flexibility between the chassis and wheel while maintaining the smallest degree-of-freedom (DOF) within the articulated chain. We focus our attention on achieving two goals: (i) obtaining adequate ground clearance by designing the desired/feasible motions of the wheel axle, relative to the chassis, using methods from kinematic synthesis; and (ii) reducing overall actuation requirements by a judicious mix of structural equilibration design and spring assist. This process is examined in detail in the context of two candidate single-degree-of-freedom designs for the articulated-leg-wheel subsystems—a coupled-serial-chain configuration and a four-bar configuration. We considered the design synthesis of planar variants of the two candidate designs surmounting a representative obstacle profile while supporting a set of end-effector loads and highlight the key benefits in the presented results.

Development of Underactuated Mechanical Fingers Based on Anthropometric Data and Anthropomorphic Tasks

2014 ◽  
Author(s):  
Nina Robson ◽  
James Allington ◽  
Gim Song Soh
Keyword(s):  
Theoretical Foundation ◽  
Index Finger ◽  
Degree Of Freedom ◽  
Anthropometric Data ◽  
Open Problems ◽  
Kinematic Synthesis ◽  
Kinematic Chains ◽  
Curvature Effects ◽  
Order Task ◽  
Planar Index

This paper describes a systematic method for the kinematic synthesis of one degree-of-freedom robotic fingers that incorporate multi-loop kinematic structures with second order task specifications, such that the fingers do not violate normal direction and curvature constraints imposed by contact with objects. We show how to use these contact and curvature effects to formulate the synthesis equations for the design of a planar index finger, based on anthropomorphic back-bone chain and anthropomorphic task. The prototype of the finger is described in the end of the paper. It is important to note, that the theoretical foundation presented in this paper, assists in solving some of the open problems of the field, providing preliminary results on the synthesis of one degree-of-freedom kinematic chains, based on human’s finger dimensions and novel task specifications that incorporate curvature constraints, with future applications in grasping and object manipulation.

Dimensional Synthesis of CRR Serial Chains

2003 ◽  
Author(s):  
Alba Perez ◽  
J. M. McCarthy
Keyword(s):  
Degree Of Freedom ◽  
Dimensional Synthesis ◽  
Dual Quaternion ◽  
Kinematic Synthesis ◽  
Revolute Joints ◽  
Serial Chain ◽  
In Series ◽  
Synthesis Methodology ◽  
Serial Chains

This paper presents the kinematic synthesis of a CRR serial chain. This is a four-degree-of-freedom chain constructed from a cylindric joint and two revolute joints in series. The design equations for this chain are obtained from the dual quaternion kinematics equations evaluated at a specified set of task positions. In this case, we find that the chain is completely defined by seven task positions. Furthermore, our solution of these equations has yielded 52 candidate designs, so far; there may be more. This synthesis methodology shows promise for the design of constrained serial chains.

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