Multi-Loop Rover: A Kind of Modular Rolling Robot Constructed by Multi-Loop Linkages

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Yaobin Tian ◽  
Xianwen Kong ◽  
Kun Xu ◽  
Xilun Ding
Keyword(s):  
Topological Structure ◽  
Inverse Kinematics ◽  
Modular Design ◽  
Screw Theory ◽  
Deformation Properties ◽  
Physical Prototype ◽  
Forward And Inverse Kinematics ◽  
Rolling Robot

Abstract This paper proposes a new kind of modular rolling robot called multi-loop rover (MLR), which is essentially a multi-loop linkage that is able to roll and switch its rolling directions. For ease of rolling, the MLR retains a multi-loop topological structure composed of a number of strut and node modules. First, the modular design and assembling method are introduced to construct an MLR. Then, the mobility is analyzed based on screw theory, and a brief formula is presented to calculate the degree-of-freedoms of the robot. The results show that all node modules only have translational motions, which can significantly reduce the complexity of kinematics. The forward and inverse kinematics are conducted to show the deformation properties. Based on the kinematic rolling principle, the morphing strategies for rolling and turning functions are developed. Finally, a physical prototype is manufactured and a serial of experiments are carried out to verify the proposed method.

scholarly journals Design and Analysis of a Novel Tree Climbing Robot Mechanism

2020 ◽  
Author(s):  
Ru-Gui Wang ◽  
Hai-Bo Huang ◽  
Yi Li ◽  
Ji-Wei Yuan
Keyword(s):  
Numerical Simulation ◽  
Physical Model ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Singular Points ◽  
Climbing Robot ◽  
Overall Design ◽  
Forward And Inverse Kinematics ◽  
The Relationship

Abstract In this paper, a novel tree climbing robot mechanism was designed, based on the tree climbing movement and posture of the primates. The overall design and tree climbing gait of the tree climbing robot were analyzed in detail. According to the screw theory, the DOF of the leg of the tree climbing robot is calculated. The forward and inverse kinematics equations of the tree climbing robot were established and solved. The kinematics of the leg parallel mechanism was established, furthermore, the singularity of the leg mechanism was analyzed and three types of singularity were derived. The simplified diagrams and the corresponding model diagrams, at the singular points, were drawn. Finally, the movement is simulated and analyzed. And the changes of the leg joint angular and the foot-end displacement and the relationship between the driving displacement and angles of the tree climbing robot by numerical simulation is obtained at the same time. Prototype physical model of the tree climbing robot was made, which further verified the rationality and feasibility of the tree climbing robot mechanism studied in this paper.

The kinematics and statics of manipulators

2009 ◽  
Vol 223 (9) ◽  
pp. 2155-2166 ◽  
Author(s):  
J-S Zhao ◽  
W Lu ◽  
F Chu ◽  
Z-J Feng
Keyword(s):  
Path Planning ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Static Balance ◽  
Kinematics Analysis ◽  
Virtual Power ◽  
End Effector ◽  
Forward And Inverse Kinematics ◽  
Inverse Velocity

As the kinematics and statics play a very important role in determining the actuating inputs and the effective loads that the end-effector sustains, this article focuses on this issue and proposes an analytical process to study the forward and inverse kinematics and statics of spatial manipulators. As series manipulators and parallel manipulators show different features in kinematics and statics, this article discusses them separately. First, the forward and inverse velocity problems of the manipulator linkages are investigated with reciprocal screw theory. Then, the static balance conditions together with forward and inverse statics of the manipulator linkages are established through virtual power theory. In the kinematics analysis, the primary conditions for feasible motions of an end-effector are addressed through velocity screws. Illustrative examples indicate that the method proposed in this article can be used to guide the singularity identification, path planning, and feasible motion determination.

Motion Control of Welding Robot Based on ADAMS and ACR-9000

2012 ◽  
Vol 542-543 ◽  
pp. 789-794
Author(s):  
Yong Zhong Du ◽  
Xue Liang Ping ◽  
Lu Gang Chen ◽  
Wei Bin Xu
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Welding Robot ◽  
Motion Controller ◽  
New Approach ◽  
Trajectory Simulation ◽  
Physical Prototype ◽  
Forward And Inverse Kinematics ◽  
Simulation Results ◽  
D Model

Based on some relevant theories of robotics such as trajectory planning, the forward and inverse kinematics solutions and DH convention, this paper proposes a new approach towards testing the physical prototype. The approach sets up a 3-D model for a 6-DOF welding robot , works out the simulation results of expected processing trajectory planning for six rods in MATLAB, verifies the trajectory simulation results with the built-in Robot Toolbox of MATLAB, And controls the robot to draw a circle with the ACR9000 motion controller.

scholarly journals Kinematical Research of Free-Floating Space-Robot System at Position Level Based on Screw Theory

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Yong Wang ◽  
Xiaojun Liang ◽  
Kejie Gong ◽  
Ying Liao
Keyword(s):  
Spatial Model ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Space Robot ◽  
Robot System ◽  
Newton's Iteration ◽  
Forward And Inverse Kinematics ◽  
Simulation Results ◽  
Dual Arm ◽  
Complex Subject

Kinematics of a free-floating space-robot system is a fundamental and complex subject. Problems at the position level, however, are not considered sufficiently because of the nonholonomic property of the system. Current methods cannot handle these problems simply and efficiently. A novel and systematical modeling approach is provided; forward and inverse kinematics at the position level are deduced based on the product of exponentials (POE) formula and conservation of linear momentum. The whole deduction process is concise and clear. More importantly, inertial tensor parameters are not introduced. Then, three situations with different known variables are mainly studied. Due to the complexity of inverse kinematical equations, a numerical method is proposed based on Newton’s iteration method. Two calculation examples are given, a dual-arm planar model and a single-arm spatial model; both forward and inverse kinematical solutions are given, while inverse kinematical results are compared with simulation results of Adams. The results indicate that the proposed methods are quite accurate and efficient.

A Hybrid Self-Stressed Cable-Driven Mechanism

2008 ◽  
Author(s):  
Saeed Behzadipour
Keyword(s):  
Static Loading ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Tensile Force ◽  
Cable System ◽  
End Effector ◽  
Stiffness Analysis ◽  
Cable Length ◽  
Cable Drive ◽  
Forward And Inverse Kinematics

A new hybrid cable-driven manipulator is introduced. The manipulator is composed of a Cartesian mechanism to provide three translational degrees of freedom and a cable system to drive the mechanism. The end-effector is driven by three rotational motors through the cables. The cable drive system in this mechanism is self-stressed meaning that the pre-tension of the cables which keep them taut is provided internally. In other words, no redundant actuator or external force is required to maintain the tensile force in the cables. This simplifies the operation of the mechanism by reducing the number of actuators and also avoids their continuous static loading. It also eliminates the redundant work of the actuators which is usually present in cable-driven mechanisms. Forward and inverse kinematics problems are solved and shown to have explicit solutions. Static and stiffness analysis are also performed. The effects of the cable’s compliance on the stiffness of the mechanism is modeled and presented by a characteristic cable length. The characteristic cable length is calculated and analyzed in representative locations of the workspace.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems

2005 ◽  
Author(s):  
Paul Bosscher ◽  
Robert L. Williams ◽  
Melissa Tummino
Keyword(s):  
Mobile Robots ◽  
Inverse Kinematics ◽  
Search And Rescue ◽  
Kinematic Structure ◽  
Rescue Workers ◽  
Cable Robot ◽  
System Concept ◽  
Moment Resisting ◽  
Calibration Algorithm ◽  
Forward And Inverse Kinematics

This paper introduces a new concept for robotic search and rescue systems. This system uses a rapidly deployable cable robot to augment existing search and rescue mobile robots. This system can greatly increase the range of mobile robots as well as provide overhead views of the disaster site, allowing rescue workers to reach survivors as quickly as possible while minimizing the danger posed to rescue workers. In addition to the system concept, this paper presents a novel kinematic structure for the cable robot, allowing simple translation-only motion (with moment-resisting capability) and easy forward and inverse kinematics for a 3-DOF spatial manipulator. Also, a deployment sequence is described, a rapid calibration algorithm is presented and the workspace of the manipulator is investigated.

scholarly journals Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Robotics ◽  
2018 ◽  
Vol 7 (3) ◽  
pp. 48 ◽  
Author(s):  
Ruiqin Li ◽  
Hongwei Meng ◽  
Shaoping Bai ◽  
Yinyin Yao ◽  
Jianwei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Step Length ◽  
Parallel Robot ◽  
Search Method ◽  
Walking Robot ◽  
Gait Control ◽  
Gait Planning ◽  
Forward And Inverse Kinematics ◽  
Passing Ability

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

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