Kinematical Model and Topology Patterns of a New 6-Parallel-Legged Walking Robot

2012 ◽  
Author(s):  
Pan Yang ◽  
Feng Gao
Keyword(s):  
Working Conditions ◽  
Force Control ◽  
Control Method ◽  
Design Method ◽  
Legged Robot ◽  
Walking Robot ◽  
Actuation Force ◽  
And Topology ◽  
Kinematical Model ◽  
The Relationship

In this paper, a new kind of 6-legged robot is presented. It was designed for drilling holes on the aircraft surface. Each leg of the robot is a 3-DOF parallel mechanism and the actuation can be controlled both by position and force. The mechanism design method of the robot is discussed. The relationship between control method and motion topology under different working conditions is studied. The kinematical model is built, based on which the motion plan are made. The control method is position-force control, so the calculation of actuation force is done. Finally, the simulation result is showed: the robot can drill on the fuselage surface successfully and the position-force control method can improve its performance a lot.

A new six-parallel-legged walking robot for drilling holes on the fuselage

2013 ◽  
Vol 228 (4) ◽  
pp. 753-764 ◽  
Author(s):  
Yang Pan ◽  
Feng Gao
Keyword(s):  
Working Conditions ◽  
Parallel Mechanism ◽  
Position Control ◽  
Control Method ◽  
Control Mode ◽  
Legged Robot ◽  
Walking Robot ◽  
Kinematical Model ◽  
Prismatic Joints ◽  
Control Curves

In this paper, a new kind of six-parallel-legged robot is presented. It is designed for drilling holes on the aircraft surface. Each leg of the robot is a 3-DOF parallel mechanism with three chains: 1UP and 2UPS. The three prismatic joints are active joints and can be controlled either by position or by force. First, the task process and the gait plan are discussed and then, according to the requirement, the control method is introduced. After that, the mechanism topology patterns under different working conditions are studied and the control mode of each motor is determined. Then the kinematical model is built up, based on which the position control curves can be obtained. The simulation result shows that the robot can walk pretty well on the fuselage surface and that the actuation forces are quite smooth. Furthermore, the first prototype has been manufactured and some experiments such as walking and manipulation have been done.

Analysis of the Energy Loss on Quadruped Robot Having a Flexible Trunk Joint

2017 ◽  
Vol 29 (3) ◽  
pp. 536-545
Author(s):  
Masahiro Ikeda ◽  
◽  
Ikuo Mizuuchi
Keyword(s):  
Energy Loss ◽  
Energy Flow ◽  
Control Method ◽  
Quadruped Robot ◽  
Rough Terrain ◽  
Legged Robot ◽  
Walking Robot ◽  
Passive Joint ◽  
Quadruped Robots ◽  
The Relationship

[abstFig src='/00290003/09.jpg' width='300' text='Energy flow in legged robot' ] As a method of robot movement, legs have the advantage of traversability on rough terrain. However, the motion of a legged robot is accompanied by energy loss. The main causes for this loss could be negative work and contact between the legs and ground. On the other hand, animals with legs are considered to reduce energy loss by using the elasticity of their body. In this study, we analyze the influence of walking, using an elastic passive joint mounted on the trunk of a quadruped robot, on the energy loss. Additionally, we study the energy flow between legs and elastic components. In this study, we clarify a control method for quadruped robots in order to reduce the energy loss of walking. The results of simulating a quadruped walking robot, which has passive joints with elastic components on the trunk, are analyzed and the relationship between each kind of energy loss and the trunk joint’s elasticity is clarified.

scholarly journals An Adaptive Sliding-Mode Iterative Constant-force Control Method for Robotic Belt Grinding Based on a One-Dimensional Force Sensor

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1635 ◽  
Author(s):  
Tie Zhang ◽  
Ye Yu ◽  
Yanbiao Zou
Keyword(s):  
Force Control ◽  
Control Method ◽  
Sliding Mode ◽  
Force Sensor ◽  
Grinding Force ◽  
One Dimension ◽  
Constant Force ◽  
Belt Grinding ◽  
Robotic Belt Grinding ◽  
The Relationship

To improve the processing quality and efficiency of robotic belt grinding, an adaptive sliding-mode iterative constant-force control method for a 6-DOF robotic belt grinding platform is proposed based on a one-dimension force sensor. In the investigation, first, the relationship between the normal and the tangential forces of the grinding contact force is revealed, and a simplified grinding force mapping relationship is presented for the application to one-dimension force sensors. Next, the relationship between the deformation and the grinding depth during the grinding is discussed, and a deformation-based dynamic model describing robotic belt grinding is established. Then, aiming at an application scene of robot belt grinding, an adaptive iterative learning method is put forward, which is combined with sliding mode control to overcome the uncertainty of the grinding force and improve the stability of the control system. Finally, some experiments were carried out and the results show that, after ten times iterations, the grinding force fluctuation becomes less than 2N, the mean value, standard deviation and variance of the grinding force error’s absolute value all significantly decrease, and that the surface quality of the machined parts significantly improves. All these demonstrate that the proposed force control method is effective and that the proposed algorithm is fast in convergence and strong in adaptability.

Force-Position Hybrid Control of a New Parallel Hexapod Robot for Drilling Holes on Fuselage Surface

2013 ◽  
Author(s):  
Xianchao Zhao ◽  
Yang Pan ◽  
Feng Gao
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Parallel Mechanism ◽  
Control Method ◽  
Hybrid Control ◽  
Control Mode ◽  
Work Status ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Robot Performance

In this paper, a new kind of 6-legged robot for drilling holes on the aircraft surface is presented. Each leg of the robot is a parallel mechanism with 3 degree of freedoms thus the robot includes totally 18 motors. Due to different work status, the control modes of these motors are also different and thus the force-position hybrid control method is applied. The kinematic and dynamic model is briefly introduced. Then the robot gait is discussed. After that hybrid control method is introduced: first the control mode of each motor should be determined, then the position or force control curves should be calculated. In the end of this paper, both virtual and real prototype of this robot is showed and the experiment result showed that the hybrid control method can significantly improve the robot performance.

scholarly journals Adaptive PID Control and Its Application Based on a Double-Layer BP Neural Network

Processes ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 1475
Author(s):  
Ming-Li Zhang ◽  
Yi-Jie Zhang ◽  
Xiao-Long He ◽  
Zheng-Jie Gao
Keyword(s):  
Double Layer ◽  
Working Conditions ◽  
Pid Control ◽  
Control Method ◽  
Back Propagation ◽  
Engineering Application ◽  
Hydraulic Drive ◽  
Control Parameters ◽  
Hydraulic Drive Unit ◽  
The Relationship

In this paper, focusing on the inconvenience of variable value PID based on manual parameter adjustment for the hydraulic drive unit (HDU) of a legged robot, a method employing double-layer back propagation (BP) neural networks for learning the law of PID control parameters is proposed. The first layer is used to learn the relationship between different control parameters and the control performance of the system under various working conditions. The second layer is used to study the relationship between the parameters of the working conditions and the optimizing control parameters under various working conditions. The effectiveness of the proposed control method was verified by simulation and experiment. The results showed that the proposed method can provide a theoretical and experimental basis for the selection of control parameters, and can be extended to similar controllers, therefore possessing engineering application value.

Research on Modeling and Ratio Control Based on Axial Displacement Feedback for CVT

2012 ◽  
Vol 215-216 ◽  
pp. 1071-1075
Author(s):  
Fei Xie ◽  
Jian Hua Wang ◽  
Yun Cheng Wang
Keyword(s):  
Working Conditions ◽  
Force Control ◽  
External Load ◽  
Control Method ◽  
Coupling Effect ◽  
Axial Displacement ◽  
Speed Ratio ◽  
Clamping Force ◽  
The Impact ◽  
Strong Capacity

Considering the coupling effect between clamping force control and speed ratio control, this paper takes the axial displacement of primary pulley as the feedback of speed ratio control which can overcome the impact of external load and disturbance of outside environment. By choosing typical working conditions, simulation was carried out and the results showed that this control method had strong capacity of robust and decoupling, good dynamic response and stability.

STAGES IN SOCIAL POLICY DEVELOPMENT

2018 ◽  
Vol 28 (1) ◽  
pp. 265-272
Author(s):  
Venelin Terziev ◽  
Preslava Dimitrova
Keyword(s):  
Social Policy ◽  
Working Conditions ◽  
Social Relations ◽  
Policy Development ◽  
Social Groups ◽  
National Society ◽  
Complex Approach ◽  
The Social ◽  
Relationship Of ◽  
The Relationship

The social policy of a country is a set of specific activities aimed at regulating the social relations between different in their social status subjects. This approach to clarifying social policy is also called functional and essentially addresses social policy as an activity to regulate the relationship of equality or inequality in society. It provides an opportunity to look for inequalities in the economic positions of individuals in relation to ownership, labor and working conditions, distribution of income and consumption, social security and health, to look for the sources of these inequalities and their social justification or undue application.The modern state takes on social functions that seek to regulate imbalances, to protect weak social positions and prevent the disintegration of the social system. It regulates the processes in society by harmonizing interests and opposing marginalization. Every modern country develops social activities that reflect the specifics of a particular society, correspond to its economic, political and cultural status. They are the result of political decisions aimed at directing and regulating the process of adaptation of the national society to the transformations of the market environment. Social policy is at the heart of the development and governance of each country. Despite the fact that too many factors and problems affect it, it largely determines the physical and mental state of the population as well as the relationships and interrelationships between people. On the other hand, social policy allows for a more global study and solving of vital social problems of civil society. On the basis of the programs and actions of political parties and state bodies, the guidelines for the development of society are outlined. Social policy should be seen as an activity to regulate the relationship of equality or inequality between different individuals and social groups in society. Its importance is determined by the possibility of establishing on the basis of the complex approach: the economic positions of the different social groups and individuals, by determining the differences between them in terms of income, consumption, working conditions, health, etc .; to explain the causes of inequality; to look for concrete and specific measures to overcome the emerging social disparities.

A neutrosophic folding and a neutrosophic retraction on a single-valued neutrosophic graph

2021 ◽  
pp. 1-7
Author(s):  
M. Abu Saleem
Keyword(s):  
And Topology ◽  
Neutrosophic Graph ◽  
The Relationship

The main aim of this article is to present neutrosophic folding and neutrosophic retractions on a single-valued neutrosophic graph Ğ from the viewpoint of geometry and topology. For this reason, we use a sequence of neutrosophic transformations on Ğ to obtain a new single-valued neutrosophic graph G ˇ 1 which contains different parameters under new conditions. We deduce the isometric neutrosophic folding on neutrosophic spheres and neutrosophic torii. Also, we determine the relationship between the limit neutrosophic folding and the limit of neutrosophic retraction on Ğ. Theorems regulating these relations are attained.

Intelligent Information of TS Fuzzy PID Control System of BLDCM

2013 ◽  
Vol 846-847 ◽  
pp. 313-316 ◽  
Author(s):  
Xiao Yun Zhang
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Pid Control ◽  
Control Method ◽  
Design Method ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Control Precision ◽  
Simulation Results ◽  
Intelligent Information

This paper presented a new method based on the Fuzzy self - adaptive PID for BLDCM. This method overcomes some defects of the traditional PID control. Such as lower control precision and worse anti - jamming performance. It dynamic model of BLDCM was built, and then design method for TS fuzzy PID model is given, At last, it compared simulation results of PID control method with TS Fuzzy PID control method. The results show that the TS Fuzzy PID control method has more excellent dynamic antistatic performances, as well as anti-jamming performance. The experiment shows that TS fuzzy PID control has the stronger adaptability robustness and transplant.

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