Journal of Mechanisms and Robotics-Transactions of the Asme最新文献_第2页

Safe Trajectory Generation for Wheel-Leg Hybrid Mechanism Using Discrete Mechanics and Optimal Control 基于离散力学和最优控制的轮腿混合机构安全轨迹生成

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-20 DOI: 10.1115/1.4063871

Yiqun Li, Jiahui Gao, Kai Chen, Wei Chen, Zhouping Yin

引用次数: 0

Workspace, Singularity and Dexterity Analyses of a Six-dof SDelta Robot with an Orthogonal Base Platform 正交基台六自由度SDelta机器人的工作空间、奇异性和灵巧性分析

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-20 DOI: 10.1115/1.4063574

Metin Toz, Hasiaoqier Han, Jorge Angeles

{"title":"Workspace, Singularity and Dexterity Analyses of a Six-dof SDelta Robot with an Orthogonal Base Platform","authors":"Metin Toz, Hasiaoqier Han, Jorge Angeles","doi":"10.1115/1.4063574","DOIUrl":"https://doi.org/10.1115/1.4063574","url":null,"abstract":"Abstract The SDelta is a three-limb, six-degrees-of-freedom parallel kinematics machine, a pertinent candidate for high-speed operations by virtue of its simple architecture. The original design of the SDelta includes a planar base and moving platforms. Here, we propose a novel architecture for an improved SDelta, the orthogonal SDelta (OSD), with a cube-shaped orthogonal base platform. Inverse and forward position models are reported, along with singularity and dexterity analyses. Moreover, design parameters and mechanical constraints leading to a singularity-free workspace are provided. An evaluation of the system translational workspace and orientational capability, upon consideration of volume and dexterity, is included. The SDelta as well as a generic 6SPS mechanism (C, P, and S denote, respectively, the cylindrical, prismatic, and spherical kinematic pairs, the actuated pair is represented underlined, as P) are designed with the same parameters, then the performance of the SDelta, the OSD, and the 6SPS mechanisms are being compared. The results show that the orientational capability of the OSD is better than those of the 6SPS and the SDelta. Furthermore, the OSD has an average condition number of 2.9 over its translational workspace and 1.69 over a predefined effective regular workspace, which make the OSD a good candidate for operations that need both a high orientational capability and high dexterity.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"58 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135514274","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The equivalent mechanical model of topological graphs and the isomorphism identification of kinematic chains 拓扑图的等效力学模型及运动链的同构辨识

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-20 DOI: 10.1115/1.4063869

Wuxing Pan, Li Ruiqin

引用次数: 0

CGA-based geometric modeling method for forward displacement analysis of 6-4 Stewart platforms 基于cga的6-4 Stewart平台正位移分析几何建模方法

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-20 DOI: 10.1115/1.4063501

Ganmin Zhu, Shimin Wei, Duanling Li, Yingli Wang, Qizheng Liao

{"title":"CGA-based geometric modeling method for forward displacement analysis of 6-4 Stewart platforms","authors":"Ganmin Zhu, Shimin Wei, Duanling Li, Yingli Wang, Qizheng Liao","doi":"10.1115/1.4063501","DOIUrl":"https://doi.org/10.1115/1.4063501","url":null,"abstract":"Abstract This paper presents a novel geometric modeling method for direct displacement analysis of 6-4 Stewart platforms based on conformal geometric algebra (CGA). First, a geometric constraint relationship of four lines and a plane intersecting at a point is published. Second, a new coordinate-invariant geometric constraint equation of 6-4 Stewart platforms is deduced by CGA operation. Third, five polynomial equations are established by CGA theory. Fourth, based on the above six equations, a 5 × 5 Sylvester’s matrix is formulated by using Sylvester’s Dialytic elimination method and Gröbner bases method under the graded reverse lexicographical order. Finally, the coordinates of four points on the moving platform are revealed. Besides, a numerical example is used to prove the validity of the proposed method. The novelty of this study is that a whole geometric modeling method by geometric constraint relationship of four lines and a plane intersecting at a point is put forward under the CGA framework, which has good intuition and offers a novel idea for solving the other complex mechanisms. At the same time, Sylvester’s matrix constructed by this method is the smallest one in the known literature for forward displacement analysis of 6-4 Stewart platforms.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"84 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135514405","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism 准平移柔性连杆并联机构接触力的主动控制

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-20 DOI: 10.1115/1.4063870

Hao Pan, Shujie Tang, Genliang Chen, Hao Wang

引用次数: 0

Locust-inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability 基于起飞稳定性的蝗虫启发跳跃机构设计与改进

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-17 DOI: 10.1115/1.4063406

Xiaojuan Mo, Wenjie Ge, Yifei Ren, Donglai Zhao, Dunwen Wei, Donato Romano

{"title":"Locust-inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability","authors":"Xiaojuan Mo, Wenjie Ge, Yifei Ren, Donglai Zhao, Dunwen Wei, Donato Romano","doi":"10.1115/1.4063406","DOIUrl":"https://doi.org/10.1115/1.4063406","url":null,"abstract":"Abstract Locusts keep their bodies moving in a straight line during the takeoff and maintain the body stable during the whole jumping with small pitching motions, ensuring both kinematic and dynamic stability to reach their intended destinations. Inspired by locusts’ jumping performance, the Stephenson II six-bar jumping mechanism is adopted to mimic the kinematic stability of locusts’ takeoff and a dynamic model is developed to analyze the impacts of the torsional spring location, the spring stiffness, and the location of the equivalent body bar centroid on the jumping performance. Furthermore, a revised eight-bar jumping mechanism is proposed to solve the difficulty in realizing dynamic stability using the six-bar mechanism, as the moments of momentum of each component around the overall centroid are positive and contribute together to the counterclockwise rotation of the jumping. The dynamic modeling shows that the mass of the equivalent tarsus bar plays an important role in realizing the dynamic stability for the eight-bar jumping mechanism. Finally, two kinds of jumping robots are designed, fabricated and tested with jumping performance recorded by high-speed cameras, which validates the impacts of the mass of the equivalent tarsus bar on the jumping stability in the eight-bar jumping mechanism.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"183 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135944586","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Origami-inspired design of a single-DOF reconfigurable wing with lockable mechanisms 折纸灵感设计的单自由度可重构机翼，具有可锁定机制

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-17 DOI: 10.1115/1.4063456

Xiong Zhang, Xi Kang, Bing Li

{"title":"Origami-inspired design of a single-DOF reconfigurable wing with lockable mechanisms","authors":"Xiong Zhang, Xi Kang, Bing Li","doi":"10.1115/1.4063456","DOIUrl":"https://doi.org/10.1115/1.4063456","url":null,"abstract":"Abstract The morphing wing can enable the aircraft to maintain good flight performance in different missions or flight stages, which has enjoyed much attention in recent research. However, it is difficult to design the wing with multiple configurations and lightweight. Inspired by the origami art, a reconfigurable mechanism with a single-degree-of-freedom (single-DOF) is introduced to the morphing wing design in this paper. The bending configuration, the deployable configuration, and the configuration transformation of the reconfigurable mechanism are respectively analyzed. The lengths of some links are also optimized according to the motion requirements. Specific kinematic pairs of the reconfigurable mechanism are required to have the locking function. Therefore, a reliable “plug-in” type lockable mechanism is designed and its working performance is verified by comparing the analytical model and the finite element method model. Finally, by assembling the reconfigurable mechanism with the ribs, the reconfigurable wing which can realize the arbitrary transformation of four configurations under a single drive mode can be obtained.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135944441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Cyclic reconfigurability of deployable ring structures with angulated beams 带角梁的可展开环结构的循环可重构性

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-16 DOI: 10.1115/1.4063408

Linzi Fan, Ruoqi He, Yao Chen, Shun Hu, Pooya Sareh

{"title":"Cyclic reconfigurability of deployable ring structures with angulated beams","authors":"Linzi Fan, Ruoqi He, Yao Chen, Shun Hu, Pooya Sareh","doi":"10.1115/1.4063408","DOIUrl":"https://doi.org/10.1115/1.4063408","url":null,"abstract":"Abstract Deployable ring structures have been useful concepts for engineering design applications due to their smooth transformation from an initially compact configuration to a substantially larger deployed state. As a result, over the past few decades, various computational and kinematic models have been introduced to analyze the behavior of such deployable structures. Here, we propose a type of deployable ring structure designed based on a transformable concept known as the Swivel Diaphragm. In particular, the geometry of the deployable ring structure is introduced, including different structural configurations with fixed pivots and angulated beams. Then, taking a group-theoretic approach, we establish appropriate constraint equations and perform a symmetry-adapted kinematic analysis. In the next step, the mobility and self-stress states of three example structures are studied, including a simple ring structure with C3 symmetry, a C6-symmetric ring with a hexagonal Swivel Diaphragm structure, and a general Cn-symmetric ring structure with inner hoops. The usefulness and effectiveness of the utilized group-theoretic approach are examined and validated through the study of these examples. We show that the kinematic behavior of the numerical models developed in this study agrees well with the finite element results obtained using abaqus. Importantly, the illustrated motion trajectories of the reconfigurable structures demonstrate that they retain a single degree-of-freedom as well as a cyclic symmetry. Moreover, it is shown that the angulated members necessarily rotate around the fixed pivots, which could be practically desirable in designing transformable structures for various applications in engineering and architecture.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136077388","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks 上肢外骨骼的设计与实现，以协助个人的体力处理任务

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-16 DOI: 10.1115/1.4063455

Bing Chen, Xiang Ni, Bin Zi, Qingsong Xu, Jun Qian

{"title":"Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks","authors":"Bing Chen, Xiang Ni, Bin Zi, Qingsong Xu, Jun Qian","doi":"10.1115/1.4063455","DOIUrl":"https://doi.org/10.1115/1.4063455","url":null,"abstract":"Abstract This paper illustrates the design and testing of an upper-body exoskeleton for the assistance of individuals with load-lifting and load-carrying tasks, and the provided assistive force can well match with the force required by the human. First, the biomechanics of the human lumbar during the squat lifting of an object is described. Next, the modeling of the exoskeleton is introduced. Additionally, the hardware design of the exoskeleton is presented. The exoskeleton is mainly composed of a back-assist mechanism and an upper extremity labor-saving mechanism, which can assist the wearer’s lumbar during the squat lifting of an object and assist the wearer’s arms to carry an object during walking, respectively. Finally, experiments are conducted to evaluate the performance of the developed upper-body exoskeleton. The experimental results demonstrate that the exoskeleton has the potential to provide assistance for individuals with manual handling tasks. An average assistive force of 44.8 N can be provided for the wearer to lift a 10-kg object. During the squat lifting of the 10-kg object, reductions of 31.86% and 28.30% of the average muscle activities of the wearer’s lumbar erector spinae and thoracic erector spinae are observed, respectively. In addition, a reduction of 23.78% of the average muscle activity of the wearer’s biceps brachii is observed during walking while carrying the 10-kg object.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136078563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable-tension Loss 考虑缆索张力损失的双向缺口连续机器人改进静态模型

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-16 DOI: 10.1115/1.4063454

Zhengyu Wang, Zirui Jia, Sen Qian, Daoming Wang, Xiang Yu, Xuchang Liu

{"title":"An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable-tension Loss","authors":"Zhengyu Wang, Zirui Jia, Sen Qian, Daoming Wang, Xiang Yu, Xuchang Liu","doi":"10.1115/1.4063454","DOIUrl":"https://doi.org/10.1115/1.4063454","url":null,"abstract":"Abstract The notched continuum mechanism is particularly suitable for natural orifice transluminal surgery benefiting from its small size and hollow structure. However, the widely used kinematic model based on constant curvature assumption does not reveal the actual deformation of the continuum mechanism, and its control accuracy is unstable, while the general mechanics model has the problem that the tension of the distal driving cable is difficult to measure. In this paper, a nonconstant curvature static model for a bidirectional V-shaped notched continuum mechanism is presented. The deformation of each part of the continuum mechanism from the distal end to the proximal end is analyzed in turn. The tension loss of the driving cable caused by the contact with the continuum mechanism is modeled using the capstan equation. The recursive equation between the deformation of each part of the continuum mechanism from the proximal end is derived, which can be solved numerically. The bending state of the continuum mechanism can then be estimated when only the tension of the proximal flexible cable is known. The model is experimentally verified by driving the continuum mechanism to move at a very low speed. The experiment results show that the estimation effect of the proposed model is significantly improved compared with that of the constant curvature model.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136078564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0