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The basilisk lizard's function of running on water is used to analyse the dynamical mechanism of the biped robot which has the same function. The movement trajectories of the a Watt-I six-bar linkage are brought out by combining the movement equations of the four bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and...
Squatting down and lifting object for biped robot is one of the basic conditions of realizing the humanoid movement. This paper analyzes the movement through the linkage mechanism. The motion rule of the whole body's 15 degrees of freedom (DOF) is the most important part. This paper calculates the necessary conditions to make the robot keep balance and not tip over in the process of squatting down...
Most existing work on the cooperative control of swarm autonomous underwater vehicles (AUVs) focuses on the consensus related issues that aim to make the swarm move as a cohesive whole. This paper, on the contrary, studies the self-organized segregation problem for homogeneous swarm AUVs. Motivated by the underlying mechanisms of animal segregation behaviors, an information coupling degree based approach...
This paper presents a leg-wheel wall-climbing robot utilizing bio-inspired spine feet, which is called LWbot (a leg-wheel robot). It is a 14 mm long and 57 g weight robot. It is capable of climbing both vertical brick surfaces and penetrable surfaces, such as curtains and polystyrene foam boards. It can climb not only upward, but also downward. The climbing speed on vertical curtain is up to 9.5 cm/s...
The locomotion performances of a quadruped robot with compliant feet based on closed-chain mechanism legs are presented. The legs of this quadruped robot were made up of six-bar linkage mechanism with one degree of freedom. And a special foot trajectory could be gained through kinematic analysis and optimum design of the six-bar linkage mechanism. In order to reduce the impact force of quadruped robot's...
In this paper a very accurate and efficient algorithm to compute the inverse kinematics of universal spindle-tilting type five-axis machine tools are presented. The spindle-tilting type five-axis machine is similar to a general serial 5R manipulator. The main idea is computing the complex inverse kinematics of universal spindle-tilting type five-axis machine to realize post processing. The proposed...
An exoskeleton system to assist hand rehabilitation exercise autonomously was introduced in this paper. A geared four-bar linkage mechanism was proposed as the main structure of the exoskeleton, and was verified by kinematic modeling, static analysis as well as finite element analysis. To determine the size of the exoskeleton, the optimization method was adopted, so as to improve the kinematic performance...
To achieve high speed and high acceleration, flexible planar parallel manipulators (PPM) are typically designed with lightweight linkages, but hence suffer from unwanted structural vibration, diminishing positioning accuracy. This paper addresses the dynamic modeling and efficient modal control for vibration suppression of a PPM with three flexible linkages actuated by linear ultrasonic motors (LUSM)...
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