Inclined Links Hyper-Redundant Elephant Trunk-Like Robot

2012 ◽  
Vol 4 (4) ◽  
Author(s):  
Oded Salomon ◽  
Alon Wolf
Keyword(s):  
Mechanism Design ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Forward Kinematics ◽  
Elephant Trunk ◽  
Redundant Robots ◽  
Wide Range ◽  
External Loads ◽  
Novel Design ◽  
Robotic Applications

Hyper-redundant robots (HRR) have many more degrees of freedom (DOF) than required, which enable them to handle more constraints, such as those present in highly convoluted volumes. Consequently, they can serve in many robotic applications, while extending the reachability and maneuverability of the operator. Many degrees of freedom that furnish the HRR with its wide range of capabilities also provide its major challenges: mechanism design, control, and path planning. In this paper, we present a novel design of a HRR composed of 16DOF. The HRR is composed of two concentric structures: a passive backbone and an exoskeleton which carries self-weight as well as external loads. The HRR is 80 cm long, 7.7 cm in diameter, achieves high rigidity and accuracy and is capable of 180 deg bending. The forward kinematics of the HRR is presented along with the inverse kinematics of a link.

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

2015 ◽  
Author(s):  
Andrew P. Sabelhaus ◽  
Hao Ji ◽  
Patrick Hylton ◽  
Yakshu Madaan ◽  
ChanWoo Yang ◽  
...  
Keyword(s):  
Mechanism Design ◽  
Design Process ◽  
Inverse Kinematics ◽  
Gear Ratio ◽  
Forward Kinematics ◽  
Robot Design ◽  
Link Structure ◽  
Iterative Design ◽  
Quadruped Robots ◽  
Ongoing Effort

The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.

Dynamics of redundant robots – inverse solutions

Robotica ◽  
1986 ◽  
Vol 4 (4) ◽  
pp. 263-267 ◽  
Author(s):  
Ronald L. Huston ◽  
Timothy P. King
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Solution Algorithm ◽  
Redundant Robot ◽  
Redundant Robots ◽  
Revolute Joints ◽  
Inverse Kinematics Problem ◽  
Inverse Solutions ◽  
Natural Dynamics ◽  
Least Energy

SUMMARYThe dynamics of “simple, redundant robots” are developed. A “redundant” robot is a robot whose degrees of freedom are greater than those needed to perform a given kinetmatic task. A “simple” robot is a robot with all joints being revolute joints with axes perpendicular or parallel to the arm segments. A general formulation, and a solution algorithm, for the “inverse kinematics problem” for such systems, is presented. The solution is obtained using orthogonal complement arrays which in turn are obtained from a “zero-eigenvalues” algorithm. The paper concludes with an assertion that this solution, called the “natural dynamics solution,” is optimal in that it requires the least energy to drive the robot.

Kinematics Simulation Analysis of Turn-Milling Center Based on Virtual Prototype

2010 ◽  
Vol 43 ◽  
pp. 683-686
Author(s):  
Li Da Zhu ◽  
Jia Ying Pei ◽  
Tian Biao Yu ◽  
Wan Shan Wang
Keyword(s):  
Mechanism Design ◽  
Inverse Kinematics ◽  
Development Time ◽  
Simulation Analysis ◽  
Forward Kinematics ◽  
Optimized Design ◽  
Kinematics Simulation ◽  
Physical Prototype ◽  
Motion Characteristics ◽  
Turn Milling

In order to analyze the motion characteristics of turn-milling center, it’s prototype is modeled and spiral motion is simulated and analyzed to get curves of displacement and velocity in forward kinematics and inverse kinematics. The rationality and applicability of mechanism design is verificated to provide the basis of fast optimized design of turn-milling center. So the method can forecast and improve before physical prototype manufacturing to ensure design feasibility and save development time.

Natural resolution of ill-posedness of inverse kinematics for redundant robots: a challenge to Bernstein's degrees-of-freedom problem

2005 ◽  
Vol 19 (4) ◽  
pp. 401-434 ◽  
Author(s):  
Suguru Arimoto ◽  
Masahiro Sekimoto ◽  
Hiroe Hashiguchi ◽  
Ryuta Ozawa
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Redundant Robots

Fundamental Exercises in Mechanical Systems Engineering Using Robot Manipulator

2011 ◽  
Author(s):  
Hideaki Takanobu
Keyword(s):  
Mechanical System ◽  
Linear Algebra ◽  
Systems Engineering ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Engineering Students ◽  
Robot Manipulator ◽  
Mechanical Systems ◽  
Forward Kinematics ◽  
Basic Learning

A five degrees-of-freedom (5-DOF) robot manipulator is used for the basic learning of mechanical system engineering. Students learned the forward kinematics as concrete applications of the mathematics, especially linear algebra. After making a manipulator, baton relay contest was done to understand the inverse kinematics by controlling the manipulator using a manual controller having five levers.

Analytical Trajectory Optimization of Seven Degrees of Freedom Redundant Robots

1987 ◽  
Vol 11 (4) ◽  
pp. 197-200 ◽  
Author(s):  
B. Benhabib ◽  
R.G. Fenton ◽  
A.A. Goldenberg
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Optimization Procedure ◽  
Redundant Robots ◽  
Point Motion ◽  
Point To Point ◽  
Lagrange’S Method

The basic characteristic of kinematically redundant robots is that non-unique joint solutions may exist for a specified end effector location. Thus, trajectory planning for a kinematically redundant robot requires an optimization procedure to determine the joint displacements when solving the inverse kinematics relations. In this paper an analytical solution is developed for the trajectory optimization problem of redundant robots based on the classical Lagrange’s method. A detailed formulation is provided for seven degrees of freedom robots, which minimizes the Euclidean norm of joint dislacements for point-to-point motion trajectory planning.

Kinematic Analysis of a New 3-DOF Translational Parallel Manipulator

2005 ◽  
Author(s):  
Yangmin Li ◽  
Qingsong Xu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Industrial Applications ◽  
Forward Kinematics ◽  
Physical Constraints ◽  
Mechanical Joints ◽  
Reachable Workspace ◽  
Three Degrees Of Freedom

A novel three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are investigated in details afterwards. Under different cases of physical constraints imposed by mechanical joints, the reachable workspace of the manipulator is geometrically generated and compared. Especially, it is illustrated that the manipulator in principle possesses a fairly regular like workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, the singularity within the usable workspace is verified, and simulation results show that there exist no any singular configurations within the specified workspace. Therefore, the presented new manipulator has a great potential for high precision industrial applications such as assembly, machining, etc.

Three-Dimensional Kinematic Analysis of a Two Actuated Spoke Wheel Robot Based on Its Equivalency to a Serial Manipulator

2008 ◽  
Author(s):  
Ping Ren ◽  
Ya Wang ◽  
Dennis Hong
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Future Research ◽  
Ground Contact ◽  
Contact Points ◽  
Prismatic Joints ◽  
Forward Kinematic ◽  
The Relationship

In this paper, the inverse and forward kinematics of a novel mobile robot that utilizes two actuated spoke wheels is presented. Intelligent Mobility Platform with Active Spoke System (IMPASS) is a wheel-leg hybrid robot that can walk in unstructured environments by stretching in or out three independently actuated spokes of each wheel. First, the unique locomotion scheme of IMPASS is introduced. Then the configuration of the robot when each of its two spoke wheels has one spoke in contact with the ground is modeled as a two-branch parallel mechanism with spherical and prismatic joints. An equivalent serial manipulator of the 2-SP mechanism with the same degrees of freedom is proposed to solve for the inverse and forward kinematic problems. The relationship between the physical limits of the stroke of the spokes (effective spoke length) and the limits of its equivalent degree of freedom is established. This approach can also be expanded to deal with the forward and inverse kinematics of other configurations which has more than two ground contact points. Several examples are used to illustrate the method. The results obtained will be used in the future research on the motion planning of IMPASS walking in unstructured environment.

scholarly journals A Parallel Manipulator With Only Translational Degrees of Freedom

1996 ◽  
Author(s):  
Lung-Wen Tsai ◽  
Richard Stamper
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Translational Motion ◽  
Forward Kinematics ◽  
Closed Form Solutions ◽  
Real Solutions ◽  
Revolute Joints ◽  
Inverse Kinematics Problem ◽  
Three Degree Of Freedom

Abstract This paper presents a novel three degree of freedom parallel manipulator that employs only revolute joints and constrains the manipulator output to translational motion. Closed-form solutions are developed for both the inverse and forward kinematics. It is shown that the inverse kinematics problem has up to four real solutions, and the forward kinematics problem has up to 16 real solutions.

Kinematics and Singularity Analysis of a 2R2T Parallel Mechanism

2015 ◽  
Author(s):  
Wei Ye ◽  
Yuefa Fang ◽  
Sheng Guo
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Singularity Analysis ◽  
Design Stage ◽  
Forward Kinematics ◽  
Medical Applications ◽  
Moving Platforms ◽  
Forward And Inverse Kinematics ◽  
Displacement Group

In this paper, we focus our attention on a parallel mechanism with four identical limbs and two moving platforms that are connected by a prismatic joint. Firstly, the degrees of freedom analysis of the mechanism is conducted based on the displacement group theory. Both the two moving platforms have the ability to perform two rotational and two translational motions (2R2T). Secondly, forward and inverse kinematics of the proposed mechanism is analyzed, closed-from solutions are obtained for the forward kinematics. Finally, three types of singularity, i.e. limb singularity, actuation singularity and platform singularity of the 2R2T parallel mechanism are analyzed. No limb singularity and platform singularity is found and the actuation singularity can be avoided in the design stage. The proposed mechanism has the potential to be used in industry and medical applications.

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