Design and kinematic analysis of new multi-mode mobile parallel mechanism with deployable platform

Purpose This study aims to make the mobile robot better adapt to the patrol and monitoring in industrial field substation area, a multi-mode mobile carrying mechanism which can carrying data collector, camera and other equipment is designed. Design/methodology/approach Based on the geometric axis analysis and interference analysis, the multi-mode mobile carrying mechanism is designed. The screw constraint topological theory and zero-moment point (ZMP) theory is used to kinematic analysis in mechanism mobile process. Findings The mobile carrying mechanism can realize the folding movement, hexagonal rolling and quadrilateral rolling movement. A series of simulation and prototype experiment results verify the feasibility and actual error of the design analysis. Originality/value The work of this paper provides a mobile carrying mechanism for carrying different data acquisition equipment and surveillance camera in industrial field substation zone. It has excellent folding performance and mobile capabilities. The mobile carrying mechanism reduces the workload of human being and injuries suffered by workers in industrial substation area.

Tunnelling in rare-earth nitride structures

<p>GdN thin film device structures, including magnetic tunnel junctions (MTJs), were grown by physical vapour deposition and their electrical properties were investigated. Growth compatibility between GdN and various contact metals (Al, Au, Gd and Nb) was assured using X-ray diffraction (XRD) and scanning electron microscopy (SEM) techniques. I developed a photomask and lithographic process to isolate electrical behaviour perpendicular to the plane of the films. Al and Au were confirmed to make ohmic contact to GdN, while Gd and Nb both formed Schottky-like barriers at the interface with GdN. In MTJ structures, device electrical characteristics were dominated by tunnelling behaviour through the GaN barrier layer. The Simmons model was successfully applied to tunnelling measurements of Al/GdN/GaN/GdN/Gd structured MTJs to determine the barrier properties. MTJs grown with Al bottom contacts were grown with 1.5eV potential barrier height and 2.5 nm width. Finally, MTJs contacted with Nb exhibited a large magnetoresistance (> 500%), greater than GdN-based MTJs recorded in the literature [Warring et al. ”Magnetic Tunnel Junctions Incorporating a Near-Zero-Moment Ferromagnetic Semiconductor”, Phys. Rev. Appl., vol.6, p.044002, 2016].</p>

Tunnelling in rare-earth nitride structures

<p>GdN thin film device structures, including magnetic tunnel junctions (MTJs), were grown by physical vapour deposition and their electrical properties were investigated. Growth compatibility between GdN and various contact metals (Al, Au, Gd and Nb) was assured using X-ray diffraction (XRD) and scanning electron microscopy (SEM) techniques. I developed a photomask and lithographic process to isolate electrical behaviour perpendicular to the plane of the films. Al and Au were confirmed to make ohmic contact to GdN, while Gd and Nb both formed Schottky-like barriers at the interface with GdN. In MTJ structures, device electrical characteristics were dominated by tunnelling behaviour through the GaN barrier layer. The Simmons model was successfully applied to tunnelling measurements of Al/GdN/GaN/GdN/Gd structured MTJs to determine the barrier properties. MTJs grown with Al bottom contacts were grown with 1.5eV potential barrier height and 2.5 nm width. Finally, MTJs contacted with Nb exhibited a large magnetoresistance (> 500%), greater than GdN-based MTJs recorded in the literature [Warring et al. ”Magnetic Tunnel Junctions Incorporating a Near-Zero-Moment Ferromagnetic Semiconductor”, Phys. Rev. Appl., vol.6, p.044002, 2016].</p>

Bio-inspired central pattern generator for development of Cartesian motor skills for a Quadruped Robot

Central Pattern Generator (CPG) plays a significant role in the generation of diverse and stable gaits patterns for animals as well as controlling their locomotion. The main contributions of this paper are the ability to develop the Cartesian motor skills and coordinating legs of the quadruped robot for gait adaption and its nominal characteristics with CPG approach. Primary, a predefined relationship between an excitation signal and essential parameters of the CPG design is programmed. Next, the coordinated oscillator's rhythmic patterns by CPG and accordingly output gait diagrams for each foot of the robot are attained. Then, these desirable features such as predictive modulation and programming the gait event sequences including leg-lifting sequences and step length, duration of the time of each footstep within a gait, coordination of swing and stance phases of all legs are calculated in terms of different spatio_temporal vectors. Furthermore, a novel Cartesian footstep basis function is designed based on the robot characteristics and consequently, the associated spatio-temporal vectors can be inserted to it, which caused to spanning the space of possible gait timing in Cartesian space. Next, Cartesian footstep planner can be computed the swing foot trajectories in workspace along movement axes and then according to these footholds and feet placement, ZMP (Zero Moment Point) reference trajectory will be calculated and obtained. Therefore, COG (Center of Gravity) trajectory can be computed by designing a preview controller on the basis of the desired ZMP trajectory. Finally, to demonstrate the effectiveness of the proposed algorithm, it is implemented on a quadruped robot on both simulation or experimental implementations and the results are compared and discussed with other references.

Simulation of Upward Jump Control for One-Legged Robot Based on QP Optimization

An optimization framework for upward jumping motion based on quadratic programming (QP) is proposed in this paper, which can simultaneously consider constraints such as the zero moment point (ZMP), limitation of angular accelerations, and anti-slippage. Our approach comprises two parts: the trajectory generation and real-time control. In the trajectory generation for the launch phase, we discretize the continuous trajectories and assume that the accelerations between the two sampling intervals are constant and transcribe the problem into a nonlinear optimization problem. In the real-time control of the stance phase, the over-constrained control objectives such as the tracking of the center of moment (CoM), angle, and angular momentum, and constraints such as the anti-slippage, ZMP, and limitation of joint acceleration are unified within a framework based on QP optimization. Input angles of the actuated joints are thus obtained through a simple iteration. The simulation result reveals that a successful upward jump to a height of 16.4 cm was achieved, which confirms that the controller fully satisfies all constraints and achieves the control objectives.

A grid gradient approximation method of energy-efficient gait planning for biped robots

In this article, an energy-efficient gait planning algorithm that utilizes both 3D body motion and an allowable zero moment point region (AZR) is presented for biped robots based on a five-mass inverted pendulum model. The product of the load torque and angular velocity of all joint motors is used as an energy index function (EIF) to evaluate the energy consumption during walking. The algorithm takes the coefficients of the finite-order Fourier series to represent the motion space of the robot body centroid, and the motion space is gridded by discretizing these coefficients. Based on the geometric structure of the leg joints, an inverse kinematics method for calculating grid intersection points is designed. Of the points that satisfy the AZR constraints, the point with the lowest EIF value in each network line is selected as the seed. In the neighborhood of the seed, the point with the minimum EIF value in the motion space is successively approximated by the gradient descent method, and the corresponding joint angle sequence is stored in the database. Given a distance to be traveled, our algorithm plans a complete walking trajectory, including two starting steps, multiple cyclic steps, and two stopping steps, while minimizing the energy consumption. According to the preset AZR, the joint angle sequences of the robot are read from the database, and these sequences are adjusted for each step according to the zero-moment-point feedback during walking. To determine the effectiveness of the proposed algorithm, both dynamic simulation and walking experiment in the real environment were carried out. The experimental results show that compared with algorithms based on the fixed body height or vertical body motion, our gait algorithm has a significant energy-saving effect.