Ground Mobile Bricard Mechanism

2020 ◽  
Vol 12 (4) ◽  
Author(s):  
Chao Liu ◽  
Xindi Chao ◽  
Yan-an Yao
Keyword(s):  
Degree Of Freedom ◽  
Motion Simulation ◽  
Dual Mode ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Constant Direction ◽  
Moving Direction

Abstract A novel application of the well-known single degree-of-freedom (DOF) Bricard mechanism is proposed in this paper. By optimizing the links’ shape and installing motors reasonably, we put forward a ground mobile Bricard mechanism that can move in a constant direction and change its moving direction by using its singular position. The types of kowtowing and spinning modes (dual-mode) are carried out, and the gaits are planned. Finally, the motion simulation and prototype experiment testify that the analyses are correct and the idea of the dual-mode ground mobile Bricard mechanism is feasible.

Ground mobile Bennett mechanism

2019 ◽  
Vol 43 (1) ◽  
pp. 69-79 ◽  
Author(s):  
Zhirui Wang ◽  
Yan-an Yao ◽  
Chao Liu
Keyword(s):  
Weight Distribution ◽  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Dynamic Analyses ◽  
Constant Direction ◽  
Moving Direction ◽  
Series Of Experiments

This paper presents a novel application of the well-known single degree of freedom Bennett mechanism. By optimizing the link’s shape and the weight distribution of the Bennett mechanism, we put forward a ground mobile mechanism that can move in a constant direction and change its moving direction with only one actuator. A type of tumbling gait is proposed and kinematic and dynamic analyses of the gait are carried out. Finally, a series of experiments are performed on a manufactured prototype. The results verify the tumbling gait and functionality of the mobile mechanism.

Kinematic comparison of single degree-of-freedom robotic gait trainers

2021 ◽  
Vol 159 ◽  
pp. 104258
Author(s):  
Jeonghwan Lee ◽  
Lailu Li ◽  
Sung Yul Shin ◽  
Ashish D. Deshpande ◽  
James Sulzer
Keyword(s):  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Robotic Gait

Single-Degree-of-Freedom Based Pressure-Impulse Diagrams for Blast Damage Assessment

2014 ◽  
Vol 567 ◽  
pp. 499-504 ◽  
Author(s):  
Zubair Imam Syed ◽  
Mohd Shahir Liew ◽  
Muhammad Hasibul Hasan ◽  
Srikanth Venkatesan
Keyword(s):  
Damage Assessment ◽  
Structural Response ◽  
Blast Loading ◽  
Computational Effort ◽  
Degree Of Freedom ◽  
Negative Phase ◽  
Single Degree Of Freedom ◽  
Pressure Impulse ◽  
Single Degree ◽  
Structural Resistance

Pressure-impulse (P-I) diagrams, which relates damage with both impulse and pressure, are widely used in the design and damage assessment of structural elements under blast loading. Among many methods of deriving P-I diagrams, single degree of freedom (SDOF) models are widely used to develop P-I diagrams for damage assessment of structural members exposed to blast loading. The popularity of the SDOF method in structural response calculation in its simplicity and cost-effective approach that requires limited input data and less computational effort. The SDOF model gives reasonably good results if the response mode shape is representative of the real behaviour. Pressure-impulse diagrams based on SDOF models are derived based on idealised structural resistance functions and the effect of few of the parameters related to structural response and blast loading are ignored. Effects of idealisation of resistance function, inclusion of damping and load rise time on P-I diagrams constructed from SDOF models have been investigated in this study. In idealisation of load, the negative phase of the blast pressure pulse is ignored in SDOF analysis. The effect of this simplification has also been explored. Matrix Laboratory (MATLAB) codes were developed for response calculation of the SDOF system and for repeated analyses of the SDOF models to construct the P-I diagrams. Resistance functions were found to have significant effect on the P-I diagrams were observed. Inclusion of negative phase was found to have notable impact of the shape of P-I diagrams in the dynamic zone.

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