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.

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.

Type Synthesis and Workspace Analysis of a Novel Series Chinese Medical Massage Arm

2010 ◽  
Vol 43 ◽  
pp. 78-83 ◽  
Author(s):  
Jun Xie ◽  
Li Hui Kuang
Keyword(s):  
Monte Carlo ◽  
Coordinate System ◽  
Coordinate Transformation ◽  
Parallel Mechanism ◽  
High Efficiency ◽  
Type Synthesis ◽  
Upper Arm ◽  
Graphical Approach ◽  
Workspace Analysis ◽  
New Type

Based on the Chinese medical massage manipulation of rolling, pressing, kneading and pushing, the serial mechanical arm with six rotational joints and the end actuator with 3-DOF parallel mechanism are selected, and a new type of hybrid massage robot is proposed. The type synthesis of this massage arm is designed from two aspects, the arm and the wrist. 6R serial joint massage arm is adopted. Using Denavit-Hartenberg coordinate system, the kinematics model of this massage robot is established and the direct kinematic problem is solved by homogeneous coordinate transformation. The workspace of this Chinese medical massage arm is analyzed by the graphical approach. It shows that the length of upper arm and forearm of this kind of Chinese medical massage arm should be equal to make the work section largest. The workspace of this Chinese medical massage arm is also portrayed based on the Monte Carlo principle through programming on MATLAB. It indicates that the working points in the workspace of the manipulator are distributed compactly and uniformly, which can satisfy the Chinese medical massage requirements with high efficiency.

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.

Working Space Analysis and Simulation of Modular Service Robot Arm Based on Monte Carlo Method

2010 ◽  
Vol 34-35 ◽  
pp. 1104-1108 ◽  
Author(s):  
Bin He ◽  
Xiao Lin He ◽  
Li Zhi Han ◽  
Jin Tao Cao ◽  
Ming Li ◽  
...  
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
High Speed ◽  
High Efficiency ◽  
Simulation Analysis ◽  
Service Robot ◽  
Robot Arm ◽  
Robot System ◽  
Space Model ◽  
Working Space

Robot working space is an important kinematic indicator. After the modular service robot arm was introduced, DH coordinate system was used to build kinematics equations of 5-DOFs services robot arm. The whole working space model of the robot system was then established. Monte Carlo method was used to simulate the working space, which can straightforwardly and visually describe the working space of robot with high speed. It was indicated that the working points in the workspace of the robot were distributed compactly and uniformly, which can meet design requirements with high efficiency. The effectiveness of the working space model was testified by the simulation analysis on Matlab and experimental validation.

scholarly journals Stochastic mesh method for optimal stopping problems

2017 ◽  
Vol 23 (2) ◽  
Author(s):  
Yuri Kashtanov
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Optimal Stopping ◽  
Jump Diffusion ◽  
Optimal Stopping Problem ◽  
Mesh Method ◽  
Consistent Estimators ◽  
Optimal Stopping Problems

AbstractA Monte Carlo method for solving the multi-dimensional optimal stopping problem is considered. Consistent estimators for a general jump-diffusion are pointed out. It is shown that the variance of estimators is inverse proportional to the number of points in each layer of the mesh.

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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