Journal of Mechanisms and Robotics-Transactions of the Asme最新文献_第6页

Implementing the analytical reachable body workspace for calculating the obstacle-crossing ability of a hexapod robot 计算六足机器人越障能力的解析可达体工作空间的实现

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-04-19 DOI: 10.1115/1.4062353

Chenkun Qi, Huayang Li, F. Gao, Xianbao Chen, Yue Zhao, Zhijun Chen

{"title":"Implementing the analytical reachable body workspace for calculating the obstacle-crossing ability of a hexapod robot","authors":"Chenkun Qi, Huayang Li, F. Gao, Xianbao Chen, Yue Zhao, Zhijun Chen","doi":"10.1115/1.4062353","DOIUrl":"https://doi.org/10.1115/1.4062353","url":null,"abstract":"\u0000 Calculating the maximum obstacle-crossing ability accurately in the mechanism design stage can better ensure that the manufactured robot prototype meets the predefined indices. The obstacle-crossing task of the legged robot is achieved by the collaborative movement of the leg and body. The reachable workspace constrains the spatial movement boundary of the foot tip and the robot body. The reachable workspace of the foot tip is invariant, while the shape and volume of the reachable body workspace vary with the supporting footholds. The body movement is modeled as a six-bar mechanism, and the reachable body workspace means the reachable workspace of the specified target point located on the moving platform of the six-bar mechanism. Unlike the previous work, the analytical method of calculating the reachable body workspace for the target point outside the moving platform named the external target point is studied. The influence of supporting footholds and shank-ground interference on the reachable body workspace is considered. The selection of supporting footholds, the collaborative motion sequences of the robot body and legs, and the determination of the maximum ability for crossing a ditch and climbing a step are demonstrated for implementing the analytical reachable body workspace. Finally, simulations corroborate the correctness of the theoretical analysis.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46234043","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

Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles 鸟型扑翼飞行器的扭耦合扑动机构

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-04-18 DOI: 10.1115/1.4062339

Yu-Jeong Han, Hyeon-Ho Yang, Jae-Hung Han

{"title":"Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles","authors":"Yu-Jeong Han, Hyeon-Ho Yang, Jae-Hung Han","doi":"10.1115/1.4062339","DOIUrl":"https://doi.org/10.1115/1.4062339","url":null,"abstract":"\u0000 In flapping-wing air vehicles, the flapping mechanism is directly related to the movement of the wing making it one of the major factors in determining aerodynamic performance. In this study, a method to increase aerodynamic performance using the flapping mechanism is discussed. This paper presents a twist-coupled mechanism that can increase thrust by combining twisting motion with flapping motion. The proposed mechanism generates twisting motion by the 4-bar planar link mechanism and flapping motion by the 4-bar spatial link mechanism. The mechanism can be driven by only one actuator by connecting two crankshafts with a pair of gears and rotating them at once. Here, we define the design parameters and constraints and search for the optimal design parameters to maximize aerodynamic force. Optimization is carried out by a genetic algorithm, a global optimization algorithm, combining kinematic and aerodynamic analyses. We then search for the design parameters that maximize thrust. Based on our optimization results, the proposed mechanism has the figure-of-eight wingtip trajectory motion like the flying animals. The aerodynamic efficiency of the proposed mechanism was validated by an aerodynamic measurement test comparing a reference mechanism that can only generate flapping motion without twisting motion. For comparative validation, prototypes of the proposed mechanism and the reference mechanism were designed and fabricated. Thrust and lift were measured by the wind tunnel test. From the wind tunnel test, it is confirmed that the proposed mechanism can generate aerodynamic loads more efficiently than the reference mechanism.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"1 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41362187","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

Robust Multi-Legged Walking Robots for Interactions with Different Terrains 鲁棒多足步行机器人与不同地形的相互作用

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-04-11 DOI: 10.1115/1.4062303

N. Robson, Vanessa Audrey, Ashutosh Dwivedi, Dylan Kunzmann

{"title":"Robust Multi-Legged Walking Robots for Interactions with Different Terrains","authors":"N. Robson, Vanessa Audrey, Ashutosh Dwivedi, Dylan Kunzmann","doi":"10.1115/1.4062303","DOIUrl":"https://doi.org/10.1115/1.4062303","url":null,"abstract":"\u0000 This paper explores the kinematic synthesis, design and pilot experimental testing of a six-legged walking robotic platform able to traverse through different terrains. We aim to develop a structured approach to designing the limb morphology using a relaxed kinematic task with incorporated conditions on foot-environments contact force direction (related to stability) and curvature constraints (related to maintaining contact). The design approach builds up incrementally starting with studying the basic human leg walking trajectory and then defining a “relaxed” kinematic task. The “relaxed” kinematic task consists only of two contact locations (toe-off and heel-strike) with higher order motion task specifications compatible with foot-terrain(s) contact and curvature constraints in the vicinity of the two contacts. As the next step, an eight-bar leg image is created based on the “relaxed” kinematic task and incorporated within a six-legged walking robot. Pilot experimental tests explore if the proposed approach results in an adaptable behavior which allows the platform to incorporate different walking foot trajectories and gait styles coupled to each environment. The results suggest that the proposed “relaxed” higher order motion task combined with the leg morphological properties and feet material allowed the platform to walk stably on the different terrains. The main advantage of the proposed method is that the platform has carefully designed limb morphology with incorporated conditions on foot-environment interaction and incorporates a single actuator to drive all six legs.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44636097","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

Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots 仿人机器人柔顺力觉夹持垫的设计、校准与控制

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-04-05 DOI: 10.1115/1.4062273

Yuanfeng Han, Boren Jiang, G. Chirikjian

引用次数: 1

Minimum Friction Coefficient-based Precision Manipulation Workspace Analysis of the Three-fingered Metamorphic Hand 基于最小摩擦系数的三指变形手精密操纵工作空间分析

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-03-30 DOI: 10.1115/1.4062238

Yen-hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Fu Zhongtao, Shuang J. Xu, J. Dai

{"title":"Minimum Friction Coefficient-based Precision Manipulation Workspace Analysis of the Three-fingered Metamorphic Hand","authors":"Yen-hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Fu Zhongtao, Shuang J. Xu, J. Dai","doi":"10.1115/1.4062238","DOIUrl":"https://doi.org/10.1115/1.4062238","url":null,"abstract":"\u0000 Reconfigurable robotic hands can constitute one of the future trends of dexterous manipulator design, as they can strike a balance between precision, force exertion, flexibility, and adaptability. However, the feasible manipulation workspace of a reconfigurable robotic hand, the metamorphic hand, is complex as the finger operation planes alter with the reconfigurable palm's motions. Different useful workspace approaches and grasp quality metrics have been introduced, but a precision manipulation workspace (PMW) approach for reconfigurable robotic hands has yet to be presented. This paper presents a hand workspace taxonomy based on previous studies, and a new approach to obtaining a PMW of a robotic hand which satisfies three properties: singularity avoidance, interference avoidance, and force-closure. A grasp quality metric, termed the minimum friction coefficient (MFC), is introduced to indicate the force-closure conditions of a robotic hand's configurations. Unlike the previous grasp quality metrics targeting online grasp planning tasks, this MFC-based measure focuses on the offline design of robotic hands. This method is essential for conducting grasp planning, design optimization, and actuation reduction for reconfigurable robotic hands. Further, the approach is applied to a three-fingered metamorphic hand, and the results are studied thoroughly.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"1 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"63503946","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

Control of Pneumatic Artificial Muscle actuated Two DOF Robot Using PD Based PWM Strategy with Feed Forward Outer Control Loop 基于PD的前馈外环PWM策略控制气动人工肌肉驱动二自由度机器人

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-03-24 DOI: 10.1115/1.4062212

Sushant Maurya, A. Dutta

{"title":"Control of Pneumatic Artificial Muscle actuated Two DOF Robot Using PD Based PWM Strategy with Feed Forward Outer Control Loop","authors":"Sushant Maurya, A. Dutta","doi":"10.1115/1.4062212","DOIUrl":"https://doi.org/10.1115/1.4062212","url":null,"abstract":"\u0000 This work presents a novel approach for the design and control of a two degrees of freedom (DOF) robotic manipulator driven by one pneumatic artificial muscle (PAM) and one passive spring for each of its DOFs. The required air pressure is supplied to the PAMs using fast switching on/off type pneumatic flow control valves. The proposed control architecture uses a PD controller with a feed-forward term in the outer control loop to correct the position errors using an approximate model of the system dynamics and approximate PAM force-contraction characteristics. An inner pressure regulator loop tracks the reference pressure signals supplied by the outer loop using a pulse width modulation (PWM) scheme to control the pneumatic valves based on the approximated inflation-deflation characteristics for the given pneumatic flow circuit. The proposed controller is unique for PAM actuated robots that simultaneously considers three levels of complications, viz. coupled dynamics of multi-degrees of freedom system, non-linearities in the force-contraction characteristics of PAMs, and nonlinearities involved in the use of on/off type pneumatic flow control valves. Experiments carried out using a laboratory prototype validate the effectiveness of the proposed control scheme.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42226870","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

Dynamics modeling and modal space control strategy of ship-borne Stewart platform for wave compensation 舰载Stewart平台波浪补偿动力学建模及模态空间控制策略

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-03-21 DOI: 10.1115/1.4062177

Weixing Chen, Wen Yu, Tong Xiaochuan, Lin Chaoxiong, Li Jiang, Wang Shuyou, Xie Wei, Mao Lifeng, Xianchao Zhao, W. Zhang, Feng Gao

{"title":"Dynamics modeling and modal space control strategy of ship-borne Stewart platform for wave compensation","authors":"Weixing Chen, Wen Yu, Tong Xiaochuan, Lin Chaoxiong, Li Jiang, Wang Shuyou, Xie Wei, Mao Lifeng, Xianchao Zhao, W. Zhang, Feng Gao","doi":"10.1115/1.4062177","DOIUrl":"https://doi.org/10.1115/1.4062177","url":null,"abstract":"\u0000 The ship-borne Stewart platform can compensate for the six-degree-of-freedom motion generated by the ship, which improves the reliability and safety of offshore operations and increases the executable window period. The heavy and off-center load of the gangway significantly influences the high-precision compensation control of the platform. Besides, the gangway assembled on the platform vibrates easily due to its low natural frequency which requires high dynamic performance of the compensating. To deal with the problem mentioned, the modal space control strategy is introduced to fully consider the inertia characteristics. Firstly, based on Kane's method, the complete dynamic model considering the ship's motion and actuator inertia is established. Then, the modal space PD controller (MSPDC) and the modal space sliding mode controller (MSSMC) are designed based on modal theory. Finally, simulations are carried out to show the advantages of the proposed model and the advantages of proposed controllers in compensation accuracy and anti-interference ability. Furthermore, The Significant Compensation Rate (SCR) is proposed to evaluate the six-DOF compensation accuracy. Compared with the PD controller with gravity compensation (PDCGC), the position SCR of MSSMC is increased from 95.37 % to 99.28 %, and the angle SCR from 85.57 % to 99.65 %.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46712594","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

Designing and Analyzing Multistable Mechanisms Using Quadrilateral Boundary Rigid Origami 基于四边形边界刚性折纸的多稳定机构设计与分析

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-03-13 DOI: 10.1115/1.4062132

Mun-jae Lee, Yuki Miyajima, Tomohiro Tachi

引用次数: 0

Three-dimensional Mobile Assemblies based on Threefold-symmetric Bricard Linkages 基于三重对称Bricard连杆的三维移动装配

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-03-13 DOI: 10.1115/1.4062131

Xiao Zhang, Xin Zhou, Ming Li, Tianming Liu, Jian Xing, Weilin Lv, Fufu Yang, Yan Chen

引用次数: 0

EMBEDDED LINEAR-MOTION DEVELOPABLE MECHANISMS ON CYLINDRICAL SURFACES 圆柱形表面上的嵌入式直线运动可展机构

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-03-13 DOI: 10.1115/1.4062133

Jacob Sheffield, Brandon Sargent, L. Howell

引用次数: 0