The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
A novel active gravity compensation concept is proposed to simulate space on-orbit microgravity environments for free-flying robots on ground. Here, robots are suspended by active-controlled motion path tracking mechanisms through wires to compensate for gravitational forces. Based on the concept, an experimental test bed was designed and fabricated in laboratory to study on-ground kinematic and dynamic...
An underactuated robotic finger is proposed and studied for capturing non-cooperative objects, featuring an underactuated rigid-mechanism that can brake residual motion of non-cooperative targets. The finger consists of three joints driven by two actuators, and a set of one-input-two-output planetary gears is introduced to realize force transmission by using the ring gear and the planetary carrier...
Center of mass domain of a hexapod robot must be determined in order to analyze the mobility performance and accomplish the high-fidelity simulation. Hexapod robot is simplified as a system of particles based on the structure characteristics of the developed hydraulically actuated hexapod robot. Position vectors of all mass points are established by coordinate transformation. Center of mass position...
The posture-adjustable turntable is playing an important part in testing equipments and other industrial devices. As well known, universal joint is employed to couple two parts that are aligned with a certain angle to transmit torque and speed. There are three major parts in a U-joint: active hinge, cross shaft, and passive hinge. Power is transmitted from the active hinge to the passive hinge via...
Different from the traditional using method of one-input-one-output in planetary gear reducer, a concept of one-input-two-output is proposed to drive an underactuated finger. A finger consisting of three degrees of freedom, is driven by two actuators. MP joint is driven by one actuator while PIP and DIP joints are driven by another actuator with power distribution by a planetary gear reducer. When...
In order to ensure space manipulator operates safely and reliably, dependable locking and fixing is necessary before launching. Thus, locking and fixing of space manipulator is extremely important. Optimized number and position of locked points are needed while locking and fixing. Based on the number of manipulator's locked points and position's disposal method and finite theory, the system first-order...
This work intends to deal with the type synthesis problem of deployable/foldable articulated mechanisms. The type synthesis in this kind of mechanism design can be factorized into two stages: the first stage is the topological synthesis of which the properties of mechanism are reflected by the graph; the second stage is the kinematic synthesis which aims at finding a set of mechanisms with the desired...
Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.