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Advancing Legged Wall Climbing Robot Performance through Dynamic Contact-Integrated Climbing Model 通过动态接触综合攀爬模型提高腿式爬墙机器人的性能
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064742
Shengchang Fang, Guisong Chen, Yitong Zhou, Xiaojie Wang
{"title":"Advancing Legged Wall Climbing Robot Performance through Dynamic Contact-Integrated Climbing Model","authors":"Shengchang Fang, Guisong Chen, Yitong Zhou, Xiaojie Wang","doi":"10.1115/1.4064742","DOIUrl":"https://doi.org/10.1115/1.4064742","url":null,"abstract":"\u0000 Climbing robots have gained significance in hazardous and steep terrains, yet adapting to complex environments remains a challenge. Inspired by nature's climbers, this paper introduces a climbing dynamics model that integrates foot-end contact forces, crucial for safe and efficient wall climbing. Drawing insights from animal locomotion and biomechanics, we present a comprehensive dynamic model for quadruped robots. Our model, built upon multibody dynamics and a dynamic contact model based on spiny claw mechanisms, accurately simulates robot forces and motion during climbing, even predicting failure scenarios. Experimental validation further establishes model accuracy. This study advances climbing robot research by addressing attachment interaction dynamics and provides valuable insights for optimizing robot structural design and gait strategies.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"386 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139847927","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: 0
Design of an Efficient Non-backdrivable Mechanism with Wrap Spring for Hand Prosthesis 为手部假肢设计带缠绕弹簧的高效非后驱动机构
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064739
Côme Butin, Yannick Aoustin, David Gouallier, Damien Chablat
{"title":"Design of an Efficient Non-backdrivable Mechanism with Wrap Spring for Hand Prosthesis","authors":"Côme Butin, Yannick Aoustin, David Gouallier, Damien Chablat","doi":"10.1115/1.4064739","DOIUrl":"https://doi.org/10.1115/1.4064739","url":null,"abstract":"\u0000 The aim of this article is to create a system that enables power transmission non-backdrivability in a hand prosthesis with a single actuator. This system allows the motor to be stopped while maintaining the gripping force to prevent the held object from being dropped. This non-backdrivability allows users, for example, to release muscle contractions while still keeping a tight grip on an object, as well as completely turning off the prosthesis to avoid unintentional commands that could lead to loosening the object. Beyond the functional aspect of non-backdrivability, the physical non-backdrivability of the transmission enables the full power of the motors to be utilized without exceeding their thermal limits. To be effectively used, the non-backdrivable system must be energy efficient. A state-of-the-art analysis of different non-backdrivable mechanisms is conducted, evaluating their functioning and maximum efficiency. A novel system is developed based on an existing principle but with a focus on simplicity of manufacturing and fewer components compared to existing systems. An analysis is conducted to understand the effect of each mechanism parameter, and a dimensioning procedure is derived. A prototype is developed to compare theoretical values with measured values. The obtained results are analyzed and discussed.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":" 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139788108","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: 0
Design of an Efficient Non-backdrivable Mechanism with Wrap Spring for Hand Prosthesis 为手部假肢设计带缠绕弹簧的高效非后驱动机构
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064739
Côme Butin, Yannick Aoustin, David Gouallier, Damien Chablat
{"title":"Design of an Efficient Non-backdrivable Mechanism with Wrap Spring for Hand Prosthesis","authors":"Côme Butin, Yannick Aoustin, David Gouallier, Damien Chablat","doi":"10.1115/1.4064739","DOIUrl":"https://doi.org/10.1115/1.4064739","url":null,"abstract":"\u0000 The aim of this article is to create a system that enables power transmission non-backdrivability in a hand prosthesis with a single actuator. This system allows the motor to be stopped while maintaining the gripping force to prevent the held object from being dropped. This non-backdrivability allows users, for example, to release muscle contractions while still keeping a tight grip on an object, as well as completely turning off the prosthesis to avoid unintentional commands that could lead to loosening the object. Beyond the functional aspect of non-backdrivability, the physical non-backdrivability of the transmission enables the full power of the motors to be utilized without exceeding their thermal limits. To be effectively used, the non-backdrivable system must be energy efficient. A state-of-the-art analysis of different non-backdrivable mechanisms is conducted, evaluating their functioning and maximum efficiency. A novel system is developed based on an existing principle but with a focus on simplicity of manufacturing and fewer components compared to existing systems. An analysis is conducted to understand the effect of each mechanism parameter, and a dimensioning procedure is derived. A prototype is developed to compare theoretical values with measured values. The obtained results are analyzed and discussed.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"41 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139847604","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: 0
Design and reconfiguration analysis of the trunk mechanism for a reconfigurable wheeled mobile platform 可重构轮式移动平台主干机构的设计与重构分析
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064740
Xinyu Teng, Yezhuo Li, Yang Liu, Yanan Yao
{"title":"Design and reconfiguration analysis of the trunk mechanism for a reconfigurable wheeled mobile platform","authors":"Xinyu Teng, Yezhuo Li, Yang Liu, Yanan Yao","doi":"10.1115/1.4064740","DOIUrl":"https://doi.org/10.1115/1.4064740","url":null,"abstract":"\u0000 This paper proposes a reconfigurable wheeled mobile platform (RWMP) consisting of two two-wheeled mobile robots and a reconfigurable trunk. The reconfigurable trunk is a 6R multi-mode single-loop mechanism (SLM) that is obtained by inserting two revolute (R) joints with intersected axes into a planar rhombus 4R mechanism. The 6R mechanism has reconfigurable characteristics owing to changes in the wrench system. All six motion modes and their constraint equations of the 6R mechanism are obtained by solving the closed-loop equation based on the D-H transformation matrix. The analysis shows that the mechanism has six single-DOF motion modes, including a planar rhombus 4R mode, two overconstrained spatial 6R modes, and three coaxial 1R modes. The motion characteristics of the six motion modes are identified using screw theory. The six transition configurations among different modes are identified by combining the constraint equations of each mode. The locomotion modes of the RWMP are designed based on the reconfiguration analysis of the trunk mechanism. The locomotion effect of the RWMP under two confined spaces are verified by simulation analysis and prototype experiment.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":" 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139788753","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: 0
2023 Reviewers 2023 年审查员
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064713
V. Krovi
{"title":"2023 Reviewers","authors":"V. Krovi","doi":"10.1115/1.4064713","DOIUrl":"https://doi.org/10.1115/1.4064713","url":null,"abstract":"","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"187 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139848783","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: 0
Integrated wheel-foot-arm design of a mobile platform with linkage mechanisms 带联动机构的移动平台轮脚臂一体化设计
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064741
Yuting Du, Q. Ruan, Yanan Yao
{"title":"Integrated wheel-foot-arm design of a mobile platform with linkage mechanisms","authors":"Yuting Du, Q. Ruan, Yanan Yao","doi":"10.1115/1.4064741","DOIUrl":"https://doi.org/10.1115/1.4064741","url":null,"abstract":"\u0000 Inspired by lizards, a novel mobile platform with revolving linkage legs is proposed. The platform consists of four six-bar bipedal modules and it is designed for heavy transportation on unstructured terrain. The platform possesses smooth wheeled locomotion and obstacle adaptive legged locomotion to enhance maneuverability. The kinematics of the six-bar bipedal modules is analyzed using the vector loop method, subsequently ascertaining the drive scheme. The foot trajectory compensation curve is generated using the fixed axis rotation contour algorithm, which effectively reduces the centroid fluctuation and enabling seamless switching between wheels and legs. When encountering obstacles, the revolving linkage legs act as climbing arms, facilitating seamless integration of wheel, foot and arm. A physical prototype is developed to test the platform on three typical terrains: flat terrain, slope and vertical obstacle. The experimental results demonstrated the feasibility of the platform structure. The platform can climb obstacles higher than its own height without adding extra actuation.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"140 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139848938","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: 0
Advancing Legged Wall Climbing Robot Performance through Dynamic Contact-Integrated Climbing Model 通过动态接触综合攀爬模型提高腿式爬墙机器人的性能
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064742
Shengchang Fang, Guisong Chen, Yitong Zhou, Xiaojie Wang
{"title":"Advancing Legged Wall Climbing Robot Performance through Dynamic Contact-Integrated Climbing Model","authors":"Shengchang Fang, Guisong Chen, Yitong Zhou, Xiaojie Wang","doi":"10.1115/1.4064742","DOIUrl":"https://doi.org/10.1115/1.4064742","url":null,"abstract":"\u0000 Climbing robots have gained significance in hazardous and steep terrains, yet adapting to complex environments remains a challenge. Inspired by nature's climbers, this paper introduces a climbing dynamics model that integrates foot-end contact forces, crucial for safe and efficient wall climbing. Drawing insights from animal locomotion and biomechanics, we present a comprehensive dynamic model for quadruped robots. Our model, built upon multibody dynamics and a dynamic contact model based on spiny claw mechanisms, accurately simulates robot forces and motion during climbing, even predicting failure scenarios. Experimental validation further establishes model accuracy. This study advances climbing robot research by addressing attachment interaction dynamics and provides valuable insights for optimizing robot structural design and gait strategies.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":" 84","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139788335","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: 0
2023 Reviewers 2023 年审查员
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064713
V. Krovi
{"title":"2023 Reviewers","authors":"V. Krovi","doi":"10.1115/1.4064713","DOIUrl":"https://doi.org/10.1115/1.4064713","url":null,"abstract":"","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":" 27","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139788935","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: 0
Design and reconfiguration analysis of the trunk mechanism for a reconfigurable wheeled mobile platform 可重构轮式移动平台主干机构的设计与重构分析
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064740
Xinyu Teng, Yezhuo Li, Yang Liu, Yanan Yao
{"title":"Design and reconfiguration analysis of the trunk mechanism for a reconfigurable wheeled mobile platform","authors":"Xinyu Teng, Yezhuo Li, Yang Liu, Yanan Yao","doi":"10.1115/1.4064740","DOIUrl":"https://doi.org/10.1115/1.4064740","url":null,"abstract":"\u0000 This paper proposes a reconfigurable wheeled mobile platform (RWMP) consisting of two two-wheeled mobile robots and a reconfigurable trunk. The reconfigurable trunk is a 6R multi-mode single-loop mechanism (SLM) that is obtained by inserting two revolute (R) joints with intersected axes into a planar rhombus 4R mechanism. The 6R mechanism has reconfigurable characteristics owing to changes in the wrench system. All six motion modes and their constraint equations of the 6R mechanism are obtained by solving the closed-loop equation based on the D-H transformation matrix. The analysis shows that the mechanism has six single-DOF motion modes, including a planar rhombus 4R mode, two overconstrained spatial 6R modes, and three coaxial 1R modes. The motion characteristics of the six motion modes are identified using screw theory. The six transition configurations among different modes are identified by combining the constraint equations of each mode. The locomotion modes of the RWMP are designed based on the reconfiguration analysis of the trunk mechanism. The locomotion effect of the RWMP under two confined spaces are verified by simulation analysis and prototype experiment.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"108 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139848555","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: 0
FEM-based Dynamic Modelling Framework for Flexible Continuum Manipulators 基于有限元的柔性连续机械手动态建模框架
Journal of Mechanisms and Robotics Pub Date : 2024-02-06 DOI: 10.1115/1.4064669
Md Modassir Firdaus, Omkar Paranjape, Madhu Vadali
{"title":"FEM-based Dynamic Modelling Framework for Flexible Continuum Manipulators","authors":"Md Modassir Firdaus, Omkar Paranjape, Madhu Vadali","doi":"10.1115/1.4064669","DOIUrl":"https://doi.org/10.1115/1.4064669","url":null,"abstract":"\u0000 Flexible continuum manipulators (FCM) are gaining importance because of their manoeuvrability and pliability in confined and complex spaces, where rigid link manipulators underperform. However, the dynamic behaviour and control of the FCM are quite challenging due to its complex nonlinear behaviour. In this study, a generalized finite element-based dynamic model framework is derived that accounts for the geometric non-linearities and inertial effects. An experimental setup of tendon-driven FCM, consisting of a flexible backbone, is developed to validate the model. The modal analysis of the model is in agreement with the analytical solutions, with less than 10% error. The model is also validated for various loading conditions on the tip-actuated tendon-driven FCM. The steady-state tip position predictions are within 15% of the ground truth.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"188 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139858755","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: 0
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