3-DOF bionic parallel mechanism design and analysis for a snake-like robot

2016 ◽  
Author(s):  
Meng Li ◽  
Zhengcai Cao ◽  
Dong Zhang ◽  
Yili Fu
Keyword(s):  
Mechanism Design ◽  
Parallel Mechanism

Research on Parametric Simulation Technology Based on Complicated Mechanism Design

2008 ◽  
Author(s):  
Wei Sun ◽  
Qingkai Han ◽  
Xiaopeng Li ◽  
Bangchun Wen
Keyword(s):  
Mechanism Design ◽  
Simulation Study ◽  
Parallel Mechanism ◽  
Parametric Modeling ◽  
New Method ◽  
Simulation Technology ◽  
The Core ◽  
Simulation Based ◽  
Complicated Mechanism

A new method is proposed, which is the core of parametric simulation based on complicated mechanism design. Furthermore, the connotation of parametric simulation is affirmed and the flow of parametric simulation based on complicated mechanism design is put forward. At last, taking a parallel mechanism as example, the technology of parametric simulation proposed is applied to the simulation study used ADAMS, which consist of analyzing mechanism, parametric modeling, creating GUI, creating menu and parametric simulation. The practice indicates that the method is effectual.

scholarly journals A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel Mechanism

Robotics ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 8
Author(s):  
Alexey Fomin ◽  
Anton Antonov ◽  
Victor Glazunov
Keyword(s):  
Mechanism Design ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Virtual Prototype ◽  
Effective Algorithm ◽  
Output Link ◽  
Suggested Algorithm ◽  
Specific Output

This paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic analysis where the analytical relationships between the output link coordinates and actuated movement are determined. These relations are used next to develop an original and computationally effective algorithm for the reconfiguration procedure. The algorithm enables selecting mechanism parameters to realize a specific output link trajectory. Several examples demonstrate the implementation of the proposed techniques. CAD simulations on a mechanism virtual prototype verify the correctness of the suggested algorithm.

In-Parallel Passive Compliant Coupler for Robot Force Control

2000 ◽  
Author(s):  
T. A. Dwarakanath ◽  
Carl D. Crane ◽  
Joseph Duffy ◽  
Chad Tyler
Keyword(s):  
Mechanism Design ◽  
Force Control ◽  
Parallel Mechanism ◽  
Quality Index ◽  
Compliant Mechanism ◽  
Signal To Noise Ratio ◽  
The Novel ◽  
Signal To Noise ◽  
Noise Ratio ◽  
Novel Design

Abstract This paper describes the design of a Passive Compliant Coupler for Force Control (PCCFC) based on an in-parallel mechanism. The optimal synthesis of the mechanism is performed with the objective of achieving a good quality index. The novel design of the connector (also termed as the leg), a crucial element of the mechanism, is one of the important features of the paper. The shape optimization of connectors of an in-parallel mechanism is obtained by satisfying compliant requirements and considering maximization of signal to noise ratio criteria. The various design aspects of sizing, sensing the displacement, and implementation of the connector are discussed. The in-parallel compliant mechanism for force control is obtained by optimizing the signal to noise ratio at various stages of the mechanism design.

Micro-motion selective-actuation X Y Z flexure parallel mechanism: design and modeling

2005 ◽  
Vol 3 (1) ◽  
pp. 51-73 ◽  
Author(s):  
Huy-Hoang Pham ◽  
Hsien-Chi Yeh ◽  
I-Ming Chen
Keyword(s):  
Mechanism Design ◽  
Parallel Mechanism ◽  
Micro Motion

Solution of Working Space about the 4-DOF Parallel Mechanism by ADAMS

2013 ◽  
Vol 372 ◽  
pp. 602-607
Author(s):  
Rui Hua Zhang
Keyword(s):  
Mechanism Design ◽  
Positive Solution ◽  
Parameter Optimization ◽  
Trajectory Planning ◽  
Reference Point ◽  
Parallel Mechanism ◽  
Software Platform ◽  
Working Space ◽  
Adams Software ◽  
Branched Chain

This article is based on ADAMS software platform to solve working space of the 4-DOF parallel mechanism. Design a kind of 4-DOF parallel mechanism and establish virtual prototype on ADAMS software platform. Then through enumeration three branched chain parameters combination, even without the premise of kinematics positive solution, we can solve it working space using the forward solving method and get the branched chain parameter with the reference point position corresponding numerical relations. It greatly simplifies the solution of the working space of parallel mechanism, is more advantageous to parameter optimization and trajectory planning of parallel mechanism.

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