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In the area of parallel robots, the use of lower-mobility parallel manipulators for many tasks re quiring fewer than six degrees of freedom has drawn a lot of interest. This paper work focuses on the modeling and simulation of 3 - UPS (Universal - Prismatic - Spherical), 3 - RPS (Revolute - Prismatic - Spherical) and 3 - RPR Tripod Parallel Manipulator units. This tripod mechanism consists of base...
The paper is aimed at establishing a platform of robotic fish propelled by paired pectoral fins, so as to research pectoral fin propulsion. Locomotion of nature sample, cow-nosed ray, was analyzed before simplified mathematical model was obtained for design of the robotic fish. Locomotion of the pectoral fins is equivalent to the pass of oscillating motion from front to back in the form of cubic function...
This paper describes the longitudinal dynamics modeling of the RIOL robot. This robot is designed to move hanging on a suspended cable in applications such as the inspection of electric power lines and aerial monitoring/surveillance. The main characteristics of the robot are described along with simulation results for full and reduced models of the longitudinal dynamics and respective comparison using...
A snake-like robot has an advantage in moving into a narrow space. Particularly “pedal wave”, which is one of its locomotion styles, is suitable for entering a thin path. However, pedal wave have been used only for going straight in most of the prior studies. In particular horizontal steering of pedal wave by a real robot has not been investigated sufficiently. Therefore in this paper we studied a...
Visual simulation provides a new effective approach to study the lunar rover in all aspects. Accurate wheel-terrain interaction is very critical for visual simulation of lunar rover. A lunar rover 3D model was created by Multigen Creator. With Vega as the visual simulation platform, wheel-terrain interaction is realized, the inverse kinematics of lunar rover are solved. The key techniques, such as...
We present an adaptive control approach combining forward kinematics model learning methods with the operational space control approach. This combination endows the robot with the ability to realize hierarchically organised learned tasks in parallel, using tasks null space projectors built upon the learned models. We illustrate the proposed method on a simulated 3 degrees of freedom planar robot....
Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots...
This paper demonstrates that a 1-DOF planar ball-throwing robot has the capability of controlling three kinematic variables of a ball independently: translational velocity, angular velocity, and direction. The throwing motion is modeled using two underactuated contact dynamics, called a finger-link contact model and a fingertip contact model, with a unidirectional transition from one model to another...
A novel mechanism is evolved from an origami fold and it consists of three loops including one planar four-bar loop and two 4R spherical linkage loops. The mobility of the mechanism is analyzed with twist loop equations which form the constraint matrix of the new mechanism. The assembly and geometric constraint conditions are then discussed. The paper further decomposes the mechanism into three loops...
Dual parallel mechanism as a novel accurate positioning device with large workspace is promising in the field of macro/micro manipulator. To construct spatial dual parallel mechanisms for given tasks, a mechanics definition and a systematic procedure for the synthesis of the overconstrained dual parallel mechanisms based on the screw theory are presented. As examples, the synthesis procedures of 3-DOF...
This paper presents an advanced control architecture for the full-scale humanoid robot RH-1. The pose control of the prototype is aimed in order to achieve mobile manipulation in collaborative working environments where humans and robots must share the same tasks and space. The kinematic model and a simplified dynamic model of the robot are given. All the models and algorithms are verified by several...
The kinematics and dynamics relations of a non-holonomic four wheeled mobile inverted pendulum (FWMIP) are developed to investigate various control schemes for keeping the inverted pendulum in balance. The kinematics relations are developed in homogeneous coordinates. The symbolic equation of motion of the FWMIP is derived in terms of platform and rod dimensions for a list of assumptions simplifying...
The swimming backward method for biomimetic carangiform robotic fish is analyzed in this paper based on the dynamic/kinematic model. The equation of Lagrange of multi-link carangiform robotic fish and simplified fluid force are inducted to calculate the dynamic and kinematic characteristics of the motions. A specific gait is calculated to make the profile of the carangiform robotic fishpsilas undulation...
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