Workspace Analysis for a 9-DOF Hyper-redundant Manipulator Based on An Improved Monte Carlo Method and Voxel Algorithm

2018 ◽  
Author(s):  
Zhiyuan Zhao ◽  
Shuai He ◽  
Yaping Zhao ◽  
Ce Xu ◽  
Qingwen Wu ◽  
...  
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Redundant Manipulator ◽  
Workspace Analysis

KINEMATICS AND WORKSPACE ANALYSIS OF A 3 DEGREE OF FREEDOM PARALLEL MECHANISM WITH PARALLELOGRAM LINKAGE

2017 ◽  
Vol 41 (5) ◽  
pp. 922-935
Author(s):  
HongJun San ◽  
JunSong Lei ◽  
JiuPeng Chen ◽  
ZhengMing Xiao ◽  
JunJie Zhao
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Analytical Method ◽  
Theoretical Basis ◽  
Parallel Mechanism ◽  
Graphical Method ◽  
Degree Of Freedom ◽  
Workspace Analysis ◽  
Fixed Base ◽  
Moving Platform

In this paper, a 3-DOF translational parallel mechanism with parallelogram linkage was studied. According to the space vector relation between the moving platform and the fixed base, the direct and inverse position solutions of this mechanism was deduced through analytical method. In addition, the error of the algorithm was analyzed, and the algorithm had turned out to be effective and to have the satisfactory computational precision. On the above basis, the workspace of this mechanism was found through graphical method, which was compared with that of finding through Monte Carlo method, and there was the feasibility for analyzing the workspace of the mechanism by graphical method. The characteristic of the mechanism was analyzed by comparing the results of two analysis methods, which provided a theoretical basis for the application of the mechanism.

Static workspace analysis of a multi-robot collaborative towing system with floating base

2021 ◽  
pp. 2150009
Author(s):  
Cheng Su ◽  
Jinghang Li ◽  
Wangcai Ding ◽  
Zhigang Zhao
Keyword(s):  
Monte Carlo ◽  
Stability Analysis ◽  
Monte Carlo Method ◽  
Dynamic Models ◽  
Configuration Optimization ◽  
Floating Base ◽  
Workspace Analysis ◽  
Simulation Calculation ◽  
Simulation Results ◽  
Multi Robot

The static workspace of the multi-robot collaborative towing system with floating base was analyzed. The spacial configuration of the system was built, and the system was divided into three types according to the actuation. The kinematic and dynamic models of the floating base and the towing system were established, respectively, by using the Newton-Euler equation. Then the static workspace of the system was analyzed, and the specific steps to solve the workspace with the improved Monte Carlo method were obtained. Finally, the static workspaces of three types of systems were solved though actual simulation calculation, the simulation results show that the improved Monte Carlo method can get a workspace with higher precision compare to the traditional Monte Carlo method. Results of this study lay a basis for the subsequent trajectory plan, stability analysis and configuration optimization of the system.

Workspace Analysis and Calculation for the Manipulator of a Explosive-Handling Robot in Mine

2012 ◽  
Vol 192 ◽  
pp. 211-216
Author(s):  
Hai Bo Tian ◽  
Ai Min Li ◽  
Fa Rong Kou
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
High Efficiency ◽  
Kinematics Analysis ◽  
Main Structure ◽  
Workspace Analysis ◽  
Mesh Method ◽  
Kinematical Model

The volume of workspace is one of the most important parameters to evaluate the flexibility of a robot. Monte Carlo Method and adaptive-divided mesh method were applied to analyze the workspace of the manipulator of a explosive-handling robot in mine. Firstly, the kinematical model of the manipulator was taken forward based on its main structure. Then, its kinematics analysis was given. Based on them, the manipulator’s workspace was analyzed by Monte Carlo Method and the cloud picture was completed. At last, the ‘Adaptive-divided Mesh Method’ was brought forward and the volume of the workspace was calculated with it. The result shows that the workspace’s volume is large enough and the working points in the workspace of the explosive-handling manipulator were distributed compactly and uniformly, which can satisfy the requirements with high efficiency.

Outbursts of comet Schwassmann-Wachmann 1, and the cloud of interplanetary boulders

1974 ◽  
Vol 22 ◽  
pp. 307 ◽  
Author(s):  
Zdenek Sekanina
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Interplanetary Space ◽  
Porous Matrix ◽  
Maximum Diameter ◽  
Expansion Velocity ◽  
Solid Constituent ◽  
Meteoric Material ◽  
Periodic Comet

AbstractIt is suggested that the outbursts of Periodic Comet Schwassmann-Wachmann 1 are triggered by impacts of interplanetary boulders on the surface of the comet’s nucleus. The existence of a cloud of such boulders in interplanetary space was predicted by Harwit (1967). We have used the hypothesis to calculate the characteristics of the outbursts – such as their mean rate, optically important dimensions of ejected debris, expansion velocity of the ejecta, maximum diameter of the expanding cloud before it fades out, and the magnitude of the accompanying orbital impulse – and found them reasonably consistent with observations, if the solid constituent of the comet is assumed in the form of a porous matrix of lowstrength meteoric material. A Monte Carlo method was applied to simulate the distributions of impacts, their directions and impact velocities.

Structures and crystallization of vacuum-deposited amorphous Se and Sb films

1990 ◽  
Vol 48 (4) ◽  
pp. 140-141
Author(s):  
Makoto Shiojiri ◽  
Toshiyuki Isshiki ◽  
Tetsuya Fudaba ◽  
Yoshihiro Hirota
Keyword(s):  
Monte Carlo ◽  
Electron Microscope ◽  
Monte Carlo Method ◽  
Computer Program ◽  
Radial Distribution ◽  
Film Formation ◽  
Amorphous State ◽  
Two Dimensional ◽  
Amorphous Films ◽  
Binding Condition

In hexagonal Se crystal each atom is covalently bound to two others to form an endless spiral chain, and in Sb crystal each atom to three others to form an extended puckered sheet. Such chains and sheets may be regarded as one- and two- dimensional molecules, respectively. In this paper we investigate the structures in amorphous state of these elements and the crystallization.HRTEM and ED images of vacuum-deposited amorphous Se and Sb films were taken with a JEM-200CX electron microscope (Cs=1.2 mm). The structure models of amorphous films were constructed on a computer by Monte Carlo method. Generated atoms were subsequently deposited on a space of 2 nm×2 nm as they fulfiled the binding condition, to form a film 5 nm thick (Fig. 1a-1c). An improvement on a previous computer program has been made as to realize the actual film formation. Radial distribution fuction (RDF) curves, ED intensities and HRTEM images for the constructed structure models were calculated, and compared with the observed ones.

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