scholarly journals Type Synthesis, Modelling and Analysis of the Manipulator for Wheel-Legged Robot

2016 ◽  
Vol 10 (2) ◽  
pp. 87-91
Author(s):  
Jarosław Szrek ◽  
Artur Muraszkowski ◽  
Przemysław Sperzyński
Keyword(s):  
Simulation Software ◽  
Dynamics Simulation ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Legged Robot ◽  
Type Synthesis ◽  
Structural Synthesis ◽  
New Approach ◽  
Basic Dimension ◽  
Simulation Results

Abstract The aim of this article is to present the concept of wheel-legged mobile manipulator, which is a combination of mobile platform with specially selected suspension system and a manipulator. First, a literature review was performed and own solution proposed. The kinematic structure of manipulator, selected simulation results, physical model and the concept of the control system has been presented. Geometry synthesis was used to design basic dimension. Structural synthesis was performed according to the intermediate chain method. Simulations were performed using the multibody dynamics simulation software. New approach in the field of the mobile manipulators was presented as a result.

Research of Amplification Frame Optimization Based on Optistruct

2012 ◽  
Vol 510 ◽  
pp. 541-544
Author(s):  
Bing Zhong
Keyword(s):  
Stress Distribution ◽  
Structural Optimization ◽  
Working Conditions ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Body Dynamics ◽  
Utilization Ratio ◽  
Simulation Results ◽  
The Cost ◽  
Multi Body

The motion of amplification frame of dumper was simulated by multi-body dynamics simulation software ADAMS, and the danger working conditions of amplification frame were calculated. The stress of amplification frame was simulated and analyzed by Optistruct software. The results show that the stress distribution in amplification frame is not uniform and it is big in the middle and small in the edge zeros. The structure of amplification is optimized according to the simulation results. The utilization ratio of the material increases and the cost of production decreases after structural optimization.

Type synthesis of legged mobile landers with one passive limb using the singularity property

Robotica ◽  
2018 ◽  
Vol 36 (12) ◽  
pp. 1836-1856 ◽  
Author(s):  
Rongfu Lin ◽  
Weizhong Guo ◽  
Xianbao Chen ◽  
Meng Li
Keyword(s):  
Autonomous Robots ◽  
The Novel ◽  
Legged Robot ◽  
Type Synthesis ◽  
Typical Structure ◽  
New Approach ◽  
Lie Group Theory ◽  
Software Simulation ◽  
Design Procedures ◽  
Novel Structures

SUMMARYDuring extraterrestrial planetary exploration programs, autonomous robots are deployed using a separate immovable lander and a rover. This mode has some limitations. In this paper, a concept of a novel legged robot with one passive limb and singularity property is introduced that has inbuilt features of a lander and a rover. Currently, studies have focused primarily on a performance analysis of the lander without a walking function. However, a systematic type synthesis of the legged mobile lander has not been studied. In this study, a new approach to the type synthesis used for the robot is proposed based on the Lie group theory. The overall concept and design procedures are proposed and described. The motion requirements of the robot and its legs, which are corresponding to the multi-function, are extracted and described. The layouts of the subgroups or submanifolds of the limbs are determined. The structures of the passive and actuated limbs are synthesized. Numerous structures of the legs with a passive limb are produced and listed corresponding to the desired displacement manifolds. Numerous novel structures of legs for the legged mobile lander are presented and listed. Then, four qualitative criteria or indexes are introduced. Based on the proposed criteria, a leg's configuration is selected as the best. A typical structure of the legged mobile lander is obtained by assembling the structures of the proposed legs. Finally, the typical robot is used as an example to verify the capabilities of the novel robot using a software simulation (ADAMS).

scholarly journals Dynamic Analysis of Shaft Structure Based on ANSYS/LS-DYNA

2018 ◽  
Vol 179 ◽  
pp. 01019
Author(s):  
Yu-ning WANG ◽  
Zhang Zhao-gang ◽  
Lin Yi-zhen ◽  
Yin Ming-ang
Keyword(s):  
Equivalent Stress ◽  
Transmission System ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Tooth Surface ◽  
Assembly Process ◽  
Design And Optimization ◽  
Maximum Equivalent Stress ◽  
Rolling Elements ◽  
Simulation Results

In this study, a part of the shafting structure of the accessory transmission system consisting of shaft-gear-bearing is studied. ANSYS/LS-DYNA explicit dynamics simulation software is used to simulate the dynamics of the shaft structure. It compares and analyzes the overall shaft structure, gears and bearings. The simulation results show that: The place where the equivalent stress of the shaft structure is relatively large is mainly concentrated at the tooth root and the tooth surface, where the stress is mainly in the vicinity of two or three teeth. With the change of time, the maximum equivalent stress value and position of the rolling elements are also correspondingly changed, it provides a reference for the design and optimization of gear and bearing in the actual assembly process for transmission system.

Parasitic Consideration of Package Design within Press Pack IGBT

2013 ◽  
Vol 433-435 ◽  
pp. 1782-1785
Author(s):  
Peng Zhang ◽  
Rong Gang Han ◽  
Wen Guang Liu ◽  
Ying Ying Su ◽  
Rui Jin ◽  
...  
Keyword(s):  
Theoretical Analysis ◽  
Current Distribution ◽  
Simulation Software ◽  
Simulation Technology ◽  
New Approach ◽  
Package Design ◽  
Simulation Results

Simulation technology provides a powerful tool for the package design. Parasitic are one of the most important factors for press pack IGBT. By the aid of the simulation software, the package parasitic is extracted and the current distribution among paralleled chips is analyzed. Simulation results confirm the theoretical analysis and verify the efficacy of the new approach.

scholarly journals Inverse kinematics of mobile manipulators based on differential evolution

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141775273 ◽  
Author(s):  
Carlos López-Franco ◽  
Jesús Hernández-Barragán ◽  
Alma Y. Alanis ◽  
Nancy Arana-Daniel ◽  
Michel López-Franco
Keyword(s):  
Differential Evolution ◽  
Inverse Kinematics ◽  
Jacobian Matrix ◽  
Inverse Kinematic ◽  
Mobile Manipulator ◽  
Robot Kinematics ◽  
Mobile Manipulators ◽  
Inverse Kinematic Problem ◽  
Simulation Results ◽  
Traditional Approaches

The solution of the inverse kinematics of mobile manipulators is a fundamental capability to solve problems such as path planning, visual-guided motion, object grasping, and so on. In this article, we present a metaheuristic approach to solve the inverse kinematic problem of mobile manipulators. In this approach, we represent the robot kinematics using the Denavit–Hartenberg model. The algorithm is able to solve the inverse kinematic problem taking into account the mobile platform. The proposed approach is able to avoid singularities configurations, since it does not require the inversion of a Jacobian matrix. Those are two of the main drawbacks to solve inverse kinematics through traditional approaches. Applicability of the proposed approach is illustrated using simulation results as well as experimental ones using an omnidirectional mobile manipulator.

Task space control of mobile manipulators

Robotica ◽  
2010 ◽  
Vol 29 (2) ◽  
pp. 221-232 ◽  
Author(s):  
Mirosław Galicki
Keyword(s):  
State Constraints ◽  
Lyapunov Stability Theory ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Minimal Energy ◽  
Task Space ◽  
End Effector ◽  
Task Space Control ◽  
Simulation Results ◽  
Penalty Function Approach

SUMMARYThis study offers the solution of the end-effector trajectory tracking problem subject to state constraints, suitably transformed into control-dependent ones, for mobile manipulators. Based on the Lyapunov stability theory, a class of controllers fulfilling the above constraints and generating the mobile manipulator trajectory with (instantaneous) minimal energy, is proposed. The problem of manipulability enforcement is solved here based on an exterior penalty function approach which results in continuous mobile manipulator controls even near boundaries of state constraints. The numerical simulation results carried out for a mobile manipulator consisting of a non-holonomic unicycle and a holonomic manipulator of two revolute kinematic pairs, operating in a two-dimensional task space, illustrate the performance of the proposed controllers.

Study on Mechanics Structural Synthesis of Six-Legged Walking Robot with Parallel Leg Mechanisms

2012 ◽  
Vol 496 ◽  
pp. 247-250 ◽  
Author(s):  
Yu Rong ◽  
Zhen Lin Jin ◽  
Meng Ke Qu
Keyword(s):  
Theoretical Foundation ◽  
Screw Theory ◽  
Synthesis Method ◽  
Specific Structure ◽  
Legged Robot ◽  
Walking Robot ◽  
Type Synthesis ◽  
Structural Synthesis ◽  
Manifold Theory ◽  
Leg Mechanisms

In order to use the parallel leg mechanisms in the six-legged robot, a six-legged walking robot with parallel leg mechanisms was presented. A six-legged walking robot type synthesis method based on screw theory was proposed. By this method, the paper carried on the structural synthesis of whole robot and the parallel leg mechanisms. 2-UPS&UP mechanism was chosen as the leg mechanism of the six-legged walking robot. 2-UPS&UP mechanism had been proven not to be an instantaneous mechanism by the displacement manifold theory. The specific structure of the six-legged walking robot based on2-UPS&UP mechanism was designed. These studies laid the theoretical foundation for further study of the six-legged walking robot. This type synthesis method could be used for the design of other multi-legged walking robot.

Research on Improved Cycloid Foot Trajectory of Quadruped Robot

2013 ◽  
Vol 278-280 ◽  
pp. 576-581 ◽  
Author(s):  
Ying Lu ◽  
Xi Qing Zhao ◽  
Zhi Xiong Zhang ◽  
Jian Zhong Shang ◽  
Zi Rong Luo
Keyword(s):  
Inverse Kinematics ◽  
Quadruped Robot ◽  
Simulation Software ◽  
Lateral Shift ◽  
Dynamics Simulation ◽  
Simulation Results ◽  
Foot Trajectory

To realize moving forward of quadruped robot by static walking, a cycloid was chose to be foot trajectory to generate a static gait with the inverse kinematics theory. Then the gait was simulated and testified with the dynamics simulation software named RecurDyn. According to the simulation results, the shortage of cycloid foot trajectory was pointed, that the unequal velocity of support feet was the key cause of body lateral shift in the process of simulation. So the cycloid foot trajectory was isokinetic improved and the foot velocity was made sure to be continuous. It was turned out to be that lateral shift phenomenon was eliminated with the improved static gait.

Dynamics Simulation Analysis of Flexible Multibody of Parallel Robot

2007 ◽  
Vol 10-12 ◽  
pp. 647-651 ◽  
Author(s):  
C.X. Zhu ◽  
Yong Xian Liu ◽  
Guang Qi Cai ◽  
L.D. Zhu
Keyword(s):  
Simulation Analysis ◽  
Parallel Robot ◽  
Rigid Bodies ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Element Analysis ◽  
Flexible Multibody ◽  
Simulation Results ◽  
Set Up ◽  
Parallel Machine Tool

Take a kind of 3-TPT parallel robot as an example, the model of flexible multibody of parallel machine tool is built by using multibody dynamics simulation software ADAMS and finite element analysis software ANSYS. And dynamics equation of flexible body in spatial is also set up, after that the dynamics simulation is carried out. Then the simulation results of rigid bodies are compared with flexible ones, and the results show that the forces applied on flexible bodies appear high nonlinear, so the simulation results of flexible multibody system are more authentic, nicety and can reflect actual dynamics characteristic of parallel robot.

scholarly journals An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Ying Kong ◽  
Qingqing Tang ◽  
Jingsheng Lei ◽  
Ruiyang Zhang
Keyword(s):  
Neural Network ◽  
Trajectory Planning ◽  
Matrix Equation ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Time Varying ◽  
Repetitive Motion ◽  
End Effector ◽  
The Matrix ◽  
Simulation Results

A novel exponential varying-parameter neural network (EVPNN) is presented and investigated to solve the inverse redundancy scheme of the mobile manipulators via quadratic programming (QP). To suspend the phenomenon of drifting free joints and guarantee high convergent precision of the end effector, the EVPNN model is applied to trajectory planning of mobile manipulators. Firstly, the repetitive motion scheme for mobile manipulators is formulated into a QP index. Secondly, the QP index is transformed into a time-varying matrix equation. Finally, the proposed EVPNN method is used to solve the QP index via the matrix equation. Theoretical analysis and simulations illustrate that the EVPNN solver has an exponential convergent speed and strong robustness in mobile manipulator applications. Comparative simulation results demonstrate that the EVPNN possesses a superior convergent rate and accuracy than the traditional ZNN solver in repetitive trajectory planning with a mobile manipulator.

Sign in / Sign up

Export Citation Format

Share Document