Volume 5B: 42nd Mechanisms and Robotics Conference最新文献_第8页

Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms 平面三自由度并联机构的保守误差空间估计

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85849

Jianzhong Ding, S. Lu, Ting Da, Chunjie Wang, G. Chirikjian

{"title":"Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms","authors":"Jianzhong Ding, S. Lu, Ting Da, Chunjie Wang, G. Chirikjian","doi":"10.1115/DETC2018-85849","DOIUrl":"https://doi.org/10.1115/DETC2018-85849","url":null,"abstract":"This article develops a geometric method to estimate the error space of 3-DoF planar mechanisms with the Minimum Volume Ellipsoid Enclosing (MVEE) approach. Both the joint clearance and input uncertainty are considered in this method. Three typical planar parallel mechanisms are used to demonstrate. Error spaces of their serial limbs are analyzed, respectively. Thereafter, limb-error-space-constrained mobility of manipulator, namely, the manipulator error space is analyzed. MVEE method has been applied to simplify the constraint modeling. A closed-form expression for the manipulator error space is derived. The volume of the manipulator error space is numerically estimated. The study approached in this paper develops a geometric error analysis method of parallel mechanisms with clear algebraic expressions. Moreover, far fewer forward kinematics computations have been performed in the proposed method than in the widely used interval analysis method. Although the estimated error space is larger than that in practice, due to the enclosing ellipses enlarge the regions of limb error space, the method has attractive advantage of high computational efficiency.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127251753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Sensitivity of Balancing in Legged Systems Under Torque Constraint Variations 力矩约束下腿式系统平衡灵敏度研究

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86063

Carlos Gonzalez, Carlotta Mummolo, Joo H. Kim

引用次数: 0

Optimal and Dynamically Feasible Path Planning for an Anguilliform Fish-Inspired Robot in Presence of Obstacles 有障碍物时鳗鲡鱼机器人最优动态可行路径规划

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86120

S. Thati, Aditi Raj, Atul Thakur

{"title":"Optimal and Dynamically Feasible Path Planning for an Anguilliform Fish-Inspired Robot in Presence of Obstacles","authors":"S. Thati, Aditi Raj, Atul Thakur","doi":"10.1115/DETC2018-86120","DOIUrl":"https://doi.org/10.1115/DETC2018-86120","url":null,"abstract":"Exploration of obstacle-ridden underwater regions for various marine applications like automated inspection, maintenance and repair of sub-sea structures and search and rescue during disaster relief is often not possible to be carried out by the human divers. Owing to their slender and hyper-redundant structure, Anguilliform-inspired robots are capable of negotiating narrow regions. However, the challenges involved in the motion planning of Anguilliform-inspired robots include the dynamic constraints imposed by the hyper-redundant joints, the interaction between fluid environment and the robot, and the presence of obstacles. This paper reports a model-predictive motion planning approach for an Anguilliform-inspired robot, wherein dynamically feasible motion primitives are generated using a dynamics simulator. The motion primitives are then used for generating a roadmap over which A* algorithm is used for searching an optimal, obstacle-free, and dynamically feasible path to the goal. Use of Euclidean heuristic in the A* based path planning for hyper-redundant underwater robots often results in the expansion of a large number of nodes and thereby slow-down the computations. Hence, we present a simulation-based admissible heuristic function that led to a speed-up of path search computation time by a factor varying from 3.1 to 5.5 over the Euclidean heuristic for our simulation-based experiments. The factor is dependent on the complexity of the scene. We also use dynamics simulation for estimating action-specific convex collision envelops for precise and efficient collision detection during the expansion of nodes in A*.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128369699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Lower Bounds of the Allowable Motions of One N-Dimensional Ellipsoid Contained in Another 包含在另一个n维椭球中的一个椭球容许运动的下界

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85851

Sipu Ruan, G. Chirikjian, Jianzhong Ding

引用次数: 2