A kinematic analysis of locomotive cooperation for two mobile robots along a general wavy road

2002 ◽  
Author(s):  
F. Hara ◽  
Y. Yasui ◽  
T. Aritake
Keyword(s):  
Mobile Robots ◽  
Kinematic Analysis

A Novel Hybrid 3-RPR Mechanism With Scalable Platforms for Self-Crossing Locomotion

2014 ◽  
Author(s):  
Ruiming Li ◽  
Zhihuai Miao ◽  
Yan’an Yao ◽  
Xianwen Kong
Keyword(s):  
Mobile Robots ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Mechanical Design ◽  
Hybrid Mechanism ◽  
Wide Range ◽  
Contraction And Expansion

To investigate novel mobile robots is still of its fantasy. In this paper, we proposed a novel hybrid 3-RPR mechanism with scalable platforms for self-crossing locomotion. The hybrid mechanism is constructed by replacing the lower and upper rigid platforms of over-constrained 3-RPR parallel mechanism (PM) each with a scalable planar 3P mechanism. Through the contraction and expansion of the two scalable platforms, the mechanism can achieve a novel locomotion, which is called self-crossing locomotion (SCL). By actuating three limbs, the mechanism can also achieve inchworm locomotion and combined locomotion of SCL and inchworm locomotion. The mobility and kinematic analysis of the mechanism are then dealt with. As a demonstration, the pipe-climbing gaits with the above modes of locomotion are planned. According to the gaits analysis, the mechanism can adapt to a wide range of pipe diameters and overcome bigger fracture in pipe. The specific mechanical design is introduced and the prototype is fabricated to verify the feasible of the mechanism.

The Kinematics of Wheeled Mobile Robots With Dual-Wheel Transmission Units

2004 ◽  
Author(s):  
Chao Chen ◽  
Svetlana Ostrovskaya ◽  
Jorge Angeles
Keyword(s):  
Computational Complexity ◽  
Mobile Robots ◽  
Closed Form ◽  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Driving Mechanism ◽  
Real Time Control ◽  
Wheeled Mobile Robots ◽  
Time Control ◽  
Inverse Kinematic Analysis

The Dual-Wheel Transmission (DWT) unit, an innovative driving mechanism for wheeled mobile robots (WMRs), was introduced elsewhere. In this paper we conduct the direct and inverse kinematic analysis of WMRs with such units. This analysis can be applied as well to other types of WMRs equipped with conventional wheels. Both central and offset types of wheel units are discussed. The closed form symbolic solutions provided in this paper may reduce the computational complexity, as required in the real time control of such systems. Furthermore, the underlying relations reveal the geometric and physical meanings of the constraints imposed on the robots at hand.

scholarly journals A Kinematic Analysis of Cooperation for Two Mobile Robots along a Wavy Road.

1994 ◽  
Vol 12 (7) ◽  
pp. 1013-1020 ◽  
Author(s):  
Yuji Yasui ◽  
Fumio Hara ◽  
Toshiyuki Aritake
Keyword(s):  
Mobile Robots ◽  
Kinematic Analysis

Kinematic Analysis and Motion Control of Wheeled Mobile Robots in Cylindrical Workspaces

2016 ◽  
Vol 13 (2) ◽  
pp. 1207-1214 ◽  
Author(s):  
Zhangjun Song ◽  
Hongliang Ren ◽  
Jianwei Zhang ◽  
Shuzhi Sam Ge
Keyword(s):  
Mobile Robots ◽  
Motion Control ◽  
Kinematic Analysis ◽  
Wheeled Mobile Robots

Kinematic Approximations in TED and RHEED Analysis of Reconstructed Surfaces

1990 ◽  
Vol 48 (2) ◽  
pp. 396-397
Author(s):  
L. -M. Peng ◽  
M. J. Whelan
Keyword(s):  
Electron Diffraction ◽  
Kinematic Analysis ◽  
Incident Beam ◽  
High Energy ◽  
Energy Electron ◽  
Great Success ◽  
High Energy Electron ◽  
Kinematic Approximation ◽  
Reconstructed Surfaces

In recent years there has been a trend in the structure determination of reconstructed surfaces to use high energy electron diffraction techniques, and to employ a kinematic approximation in analyzing the intensities of surface superlattice reflections. Experimentally this is motivated by the great success of the determination of the dimer adatom stacking fault (DAS) structure of the Si(111) 7 × 7 reconstructed surface.While in the case of transmission electron diffraction (TED) the validity of the kinematic approximation has been examined by using multislice calculations for Si and certain incident beam directions, far less has been done in the reflection high energy electron diffraction (RHEED) case. In this paper we aim to provide a thorough Bloch wave analysis of the various diffraction processes involved, and to set criteria on the validity for the kinematic analysis of the intensities of the surface superlattice reflections.The validity of the kinematic analysis, being common to both the TED and RHEED case, relies primarily on two underlying observations, namely (l)the surface superlattice scattering in the selvedge is kinematically dominating, and (2)the superlattice diffracted beams are uncoupled from the fundamental diffracted beams within the bulk.

Kinematic analysis of locomotion following traumatic brain injury in rodents

2008 ◽  
Author(s):  
Connie E. Myerson ◽  
Eniko K. Toth ◽  
Joseph M. Wasserman ◽  
W.D. Dietrich ◽  
Edward J. Green
Keyword(s):  
Traumatic Brain Injury ◽  
Brain Injury ◽  
Kinematic Analysis
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