With the progress of industry, people are facing more and more complicated tasks, which cannot be completed by conventional rigid robot. For this, a deployable robot based on spherical linkage parallel mechanism was p...
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With the progress of industry, people are facing more and more complicated tasks, which cannot be completed by conventional rigid robot. For this, a deployable robot based on spherical linkage parallel mechanism was proposed to satisfy relevant requirements for the degrees of freedom in this study. Based on the design of robot model and its control box, a mathematical model for the robot was established, and the relationship between motion space and drive space was deduced accordingly. Subsequently, a control system consisting of the upper and lower computers was introduced. Two control modes, that is, Joystick control and remote control, were developed. The upper computer control interface for the robot was completed by MATLAB construction. At last, the two control modes as well as autonomous detection were demonstrated by motion test. This achievement will further advance the applications of deployable robot in job aid and intelligent exploration.
deployable structures have the advantage of being able to change their size and morphology significantly with minimal mobility. Yet, there are very limited numbers of deployable robots. This paper proposes a transform...
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deployable structures have the advantage of being able to change their size and morphology significantly with minimal mobility. Yet, there are very limited numbers of deployable robots. This paper proposes a transformable robot by applying a threefold-symmetric Bricard linkage as the body structure. The geometries of the robot are investigated to set up relationships between its height/foot span and the joint angles of the linkage. The locomotion gaits of the robot can be realized through the deploying and folding motions of the Bricard linkage. From this, the corresponding gait controller is designed. Experimental results show that the robot can move in an arbitrary direction and follow a given path. Moreover, it is capable of moving through limited space easily by changing its configuration from folded to deployed, and vice versa. (C) 2017 Elsevier Ltd. All rights reserved.
A large variety of transformable robots were proposed in the past decades, which were mainly based on reconfigurable mechanisms. Meanwhile, deployable structures have been extensively applied to various fields, such a...
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ISBN:
(纸本)9789811028755;9789811028748
A large variety of transformable robots were proposed in the past decades, which were mainly based on reconfigurable mechanisms. Meanwhile, deployable structures have been extensively applied to various fields, such as aerospace industry, civil engineering, and medical engineering. This paper presents a new method to integrate deployable structures to the design of transformable robots. A threefold-symmetric Bricard linkage is analyzed and used as the body structure of the robot. Gait control is then achieved by using the deploying and folding motion of the Bricard linkage. Experimental results show that the robot is capable of moving through limited space with single degree-of-freedom (DOF).
The advantages of hyper-redundant robots lie in their natural flexibility and large deformation, as well as their passive adaptive ability, which shows great potential in medical and nursing applications. However, thi...
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The advantages of hyper-redundant robots lie in their natural flexibility and large deformation, as well as their passive adaptive ability, which shows great potential in medical and nursing applications. However, this feature also makes them weak in scalability and load capacity, making it difficult to complete fine care operations and daily grasping tasks. In this paper, a large deploy/fold ratio variable stiffness hyper-redundant robot based on the origami principle is proposed, which has a large deploy/fold ratio, and realizes large stiffness change based on the bionic muscle-driven variable stiffness principle. Based on the analysis of origami theory, the robot uses rigid origami mechanisms as the skeleton support, flexible gasbags as the backbones, and the hybrid actuation is used to realize the extension, contraction, variable stiffness, and omnidirectional bending motion. Based on the motion/stiffness model of the hyper-redundant robot, the characteristics of the single-joint and the 6-joint hyper-redundant robot are verified by experiments. These experiments confirm that the hyper-redundant robot has a large deploy/fold and variable stiffness range, obtains a large bending deformation and working range, can overcome the gravity generated by itself and the load, and has a high load capacity.
This paper describes a mobile cable driven parallel robot that can be temporarily mounted on existing structures like lamp posts or trees. Existing works have introduced various concepts for mobile cable driven parall...
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ISBN:
(纸本)9780791887363
This paper describes a mobile cable driven parallel robot that can be temporarily mounted on existing structures like lamp posts or trees. Existing works have introduced various concepts for mobile cable driven parallel robots and analyzed some of their characteristics like workspace. The proposed robots require either heavy equipment like truck-mounted telescoping poles, or deformative installation techniques like using concrete anchors in existing structures. Those works ignored the design of the hardware to which the winches would be attached. The present article is the first describing the design of a winch system and its attachment method for an ultra-portable cable driven parallel robot, one that can be quickly mounted and unmounted from existing structures. A novel application for robotics is selected as a case study and relevant performance goals drive the design of a mountable cable driven parallel robot winch. The design is fabricated and shown in the field. The prototype mounts to trees in such a way that the growth of the tree is not inhibited. This is achieved by using nylon ratchet straps to affix the robot winches. This design represents an extremely low-cost and portable approach to cable driven parallel robots because no structure needs to be constructed.
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