New Method for Producing 6-Degree-of-Freedom Random Vibration

2001 ◽  
Author(s):  
Joe H. Morrill
Keyword(s):  
Random Vibration ◽  
Degree Of Freedom ◽  
New Method

A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

Robotica ◽  
1999 ◽  
Vol 17 (5) ◽  
pp. 475-485 ◽  
Author(s):  
Zhen Huang ◽  
Y. Lawrence Yao
Keyword(s):  
Closed Form ◽  
Analytical Method ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
New Method ◽  
Numerical Example ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a new method to analyze the closed-form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.

A simplified modelling and analysis of six degree of freedom random vibration test

2021 ◽  
Vol 150 ◽  
pp. 107304
Author(s):  
Ronghui Zheng ◽  
Huaihai Chen ◽  
Andrea Angeli ◽  
Dirk Vandepitte
Keyword(s):  
Random Vibration ◽  
Degree Of Freedom ◽  
Vibration Test ◽  
Six Degree Of Freedom

A new method for calculating the Jacobian for a robot manipulator

Robotica ◽  
1983 ◽  
Vol 1 (4) ◽  
pp. 205-209 ◽  
Author(s):  
Jadran Lenarčič
Keyword(s):  
Computational Efficiency ◽  
Execution Time ◽  
Robot Manipulator ◽  
Degree Of Freedom ◽  
New Method ◽  
Trigonometric Functions

SUMMARYA new method for calculating the Jacobian for a general n degree-of-freedom robot manipulator is presented and compared with some known other methods. The computational efficiency of the method is estimated in terms of the number of multiplications, additions/subtractions, trigonometric functions required, and the execution time on a VAX 11/750 computer. It is shown that the new method proposed in this paper is one of the most efficient when applied on a robot manipulator with successively parallel or rectangular joint rotations.

Grasp Motion Planning with Redundant DOF of Grasping Pose

2013 ◽  
Vol 25 (3) ◽  
pp. 538-544 ◽  
Author(s):  
Kazuyuki Nagase ◽  
◽  
Yasumichi Aiyama
Keyword(s):  
Motion Planning ◽  
Collision Avoidance ◽  
Target Object ◽  
Degree Of Freedom ◽  
New Method ◽  
Redundant Manipulators ◽  
Grasp Planning

In this paper, we propose a new method of grasp planning for a manipulator with a parallel jaw gripper in obstacle environment. We consider collision avoidance as a problem of motion planning in obstacle environments. In general, however, a redundant degree of freedom (DOF) is required to avoid obstacle and to grasp. In our proposal, we pay attention to redundant DOF in a grasping pose. Using redundant DOF in a grasping pose, a manipulator can avoid obstacles and grasp a target object. It does not require any redundant manipulators.

Collision Avoidance for a Multiple-DOF Manipulator Based on Empty Space Analysis of the 3-D Real World

1992 ◽  
Vol 4 (5) ◽  
pp. 430-436 ◽  
Author(s):  
Hiromu Onda ◽  
◽  
Tsutomu Hasegawa ◽  
Toshihiro Matsui ◽  
Keyword(s):  
Collision Avoidance ◽  
Real World ◽  
Degrees Of Freedom ◽  
Empty Space ◽  
Joint Space ◽  
Degree Of Freedom ◽  
New Method ◽  
Promising Direction ◽  
Space Analysis ◽  
Path Search

This paper describes a new method for finding collisionfree paths for a multiple-degree of freedom (DOF) manipulator with rotational joints and a grasped object. The method first analyzes the structure of empty space in the 3-D workspace. Based on this space analysis, the path search is divided and direction which appears to be most promising is determined in the 3-D workspace. Finally, the path search is systematically executed in the joint space in the direction equivalent to the promising direction. This method is applicable to various problems regardless of the number of degrees of freedom of the manipulator, its structure, and the presence of a grasped object.

Harmonic Balancing of Planar Machinery by Arbitrarily Placed Counterweighing Shafts

2007 ◽  
Author(s):  
Carlo Innocenti
Keyword(s):  
Harmonic Component ◽  
Degree Of Freedom ◽  
New Method ◽  
Supporting Structure ◽  
Harmonic Components ◽  
Selection Of ◽  
Shaking Moment

The paper proposes a new method to neutralize the shaking force and shaking moment exerted on its supporting structure by a one-degree-of-freedom machine whose non-stationary parts move parallel to the same plane. Differently from the well-known technique that takes advantage of two counterweighing shafts for each of the harmonic components of the frame excitation that has to be counteracted, the proposed method requires three shafts per harmonic component. This seemingly additional complexity is offset by the complete freedom of selection of the shaft axis positions, a feature not enjoyed by the classical two-shaft device. An example shows application of the proposed method to a four-cylinder in-line engine.

A distinct matrix representation of the planar kinematic chains and isomorphism recognition

2019 ◽  
Vol 13 (4) ◽  
pp. 5717-5734
Author(s):  
M. S. Alam ◽  
M. Suhaib
Keyword(s):  
Mechanism Design ◽  
Design Problem ◽  
Matrix Representation ◽  
Degree Of Freedom ◽  
New Method ◽  
Structural Synthesis ◽  
Primary Condition ◽  
Secondary Conditions ◽  
Kinematic Chains ◽  
Three Degree Of Freedom

Structural synthesis of kinematic chains has been an indispensable area of the mechanism-design problem. The duplication may occur while developing kinematic chains. Therefore, an isomorphic test is required to eliminate duplication. For this purpose, the numbers of methods are proposed during recent years. However, most of the methods are complex and difficult to understand, and fulfil the only primary condition, but not the secondary conditions for isomorphism detection. In the present work, a new method is introduced to detect isomorphism in planar kinematic chains (KCs) fulfilling both primary and secondary conditions. First, KC’s are topologically transformed into skeleton diagrams, and then skeleton matrices [S] and identification strings [IS] are formulated consequently. In order to detect isomorphism, the IS is considered as an invariant string of a KC which in turn, enables the detection of isomorphism between the KCs. The proposed method accurately recognizes isomorphism up to 12 links KCs with no counter examples found in the literature. Three examples with one degree of freedom having 10 links 12 joints, 10 links 13 joints and 12 links three degree of freedom systems are introduced to reveal the reliability and strength of the proposed method.

A New Method of Numerical Differential and Time Domain Integral Based on the Analysis of Vibration Response

2011 ◽  
Vol 291-294 ◽  
pp. 1462-1468
Author(s):  
Jie Hu ◽  
Xi Nong Zhang
Keyword(s):  
Time Domain ◽  
Numerical Differentiation ◽  
Second Order ◽  
Vibration Response ◽  
Degree Of Freedom ◽  
New Method ◽  
Acceleration Response ◽  
Displacement Response ◽  
Discrete Sequence ◽  
Domain Integral

A new method of numerical differentiation and time domain integral was proposed in this paper, its idea was originated from the analysis of the time domain vibration response. As to numerical differentiation, the discrete sequence could be considered as the displacement response of an one degree-of-freedom system, and the velocity and acceleration response corresponding to the first and second order numerical differentiation. As to time domain integral, the discrete sequence could be considered as the acceleration response of an one degree-of-freedom system, and the velocity and displacement response corresponding to the first and second order time domain integral. All these work were established based on the discretization analysis of Duhamel integral. Numerical simulation result indicates the effective and better accuracy of this new method.

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